Integrative Reconfiguration Design and Analysis of a Novel Closed-chain Multi-legged Robot

This paper proposes a novel closed-chain multi-legged robot with the merit of integrative reconfiguration for high mobility. Inspired by the cooperative behaviors of the iliopsoas and rectus femoris, active and assistant reconfigurations of front and rear legs are synergistically conducted by single trunk motion. Walking efficiency is enhanced on flat ground by setting up fitness and penalty functions. The obstacle-crossing process is divided into four parts with corresponding reconfiguration strategies. The link in the front leg conducts contraction to enhance climbing ability based on the Entropy Weight Method, and a probability model is established for obstacle-crossing evaluation. The joint in the rear leg compensates for supporting fluctuation to realize smooth propelling during the obstacle-climbing process. Finally, the performances of various terrains are verified through simulations and experiments.