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<p>This study introduces a four-legged walking robot designed for enhanced adaptability on irregular terrains. The robot features three key subsystems: a leg mechanism, a terrain sensor, and a gait-adjustment system, developed using creative mechanism design methodology. The leg mechanism allows for adjustable foot trajectories, improving both obstacle-crossing capability and turning ability by varying the step hights and lengths on each side. The terrain sensor detects obstacles, adjusting the foot height via hydraulic actuators. A variable-ratio gear set ensures stability by keeping at least three feet on the ground at all times. Through 3D modeling, simulations, and prototype testing, the design’s feasibility was validated. The obstacle-crossing height improved from 18 mm to 34.5 mm, and the supporting segment time increased to 75 %. These results demonstrate the effectiveness of the proposed design, showcasing the robot’s ability to automatically adapt to terrain conditions. The approach can be applied to other mechanical systems, offering potential for future advancements in legged locomotion.</p>

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Design and development of a novel walking robot with terrain sensing and gait adjustment mechanisms

  • 期刊论文

  • 发表日期：

    2026年4月9日

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  • Yu-Hsun Chen,
  • Bo-Hong Lin,
  • Chen-Yu Wang

摘要

This study introduces a four-legged walking robot designed for enhanced adaptability on irregular terrains. The robot features three key subsystems: a leg mechanism, a terrain sensor, and a gait-adjustment system, developed using creative mechanism design methodology. The leg mechanism allows for adjustable foot trajectories, improving both obstacle-crossing capability and turning ability by varying the step hights and lengths on each side. The terrain sensor detects obstacles, adjusting the foot height via hydraulic actuators. A variable-ratio gear set ensures stability by keeping at least three feet on the ground at all times. Through 3D modeling, simulations, and prototype testing, the design’s feasibility was validated. The obstacle-crossing height improved from 18 mm to 34.5 mm, and the supporting segment time increased to 75 %. These results demonstrate the effectiveness of the proposed design, showcasing the robot’s ability to automatically adapt to terrain conditions. The approach can be applied to other mechanical systems, offering potential for future advancements in legged locomotion.