FreeLander: A Versatile, Modular, Multi-legged Robot Platform for Complex Terrains
摘要
The article presents a versatile, modular legged-robot hardware platform with adaptive bio-inspired neural control software. The robot platform can be used to construct different bio-inspired legged robots. Each module of the platform consists of two legs designed to function as a two-legged robot, which is able to walk on a metal pipe using electromagnetic feet. Multiple modules can be combined to obtain six-legged and eight-legged robots to walk on difficult terrains, such as rough terrain, slopes, random stepfield, gravel, grass, and even in-pipe.