Design and Locomotion Studies of a Miniature Centipede-Inspired Robot

Abstract

Many applications, such as search and rescue missions, hazardous environment exploration, and surveillance, call for miniature robots capable of agile locomotion in a variety of unpredictable environments. Recent advances in meso-scale fabrication techniques and an understanding of biological insect locomotion have enabled the creation of multiple miniature legged robots to meet this demand. Nearly all insect-scale legged robots take inspiration from rigid-body hexapods; however, another unique body morphology found in nature is that of the centipede, characterized by its many legs and flexible body. These characteristics are expected to offer performance benefits in terms of agility, stability, robustness, and adaptability.