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Design, Fabrication and Gait Planning of Alligator-inspired Robot

Author : Shaurya Shriyam ,Anand Mishra , Debashish Nayak , Atul Thakur

Pages : 567-575, DOI:http://Dx.Doi.Org/10.14741/Ijcet/Spl.2.2014.108
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This paper reports design, fabrication, and gait planning based on high walk diagonal trot gait pattern of an alligator-inspired robot having eight degrees of freedom. Each leg of the robot described in this paper has two revolute joints representing the hip and knee respectively which are actuated by servo motors. The body of the robot was fabricated on a CO2 laser cutting machine. The 3D leg design was dividedinto two 2D components to enable manufacturing on a laser cutting machine to reduce fabrication cycle time. Finally, a general-purpose kinematics based model has been reported that is used to designand implement a high-walk gait on the developed robot.

Keywords: gait design, bio-inspired robotics, multi-legged robots, high walks, kinematics, alligator, reptilian locomotion.

Article published in International Conference on Advances in Mechanical Sciences 2014, Special Issue-2 (Feb 2014)






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