Design of a Transforming Myriapod Robot for Multimodal Locomotion

This paper describes the design and simulation verification of a multimodal locomotion system on a myriapod robot which is able to walk on uneven terrain and roll on flat ground. The proposed design aimed to reduce actuation while maintaining power efficiency on both flat and uneven terrain. A mathematical approach was utilised to determine key parameters. A simulation study was conducted to verify the kinematics and dynamics of the system, modelling the locomotion of the robot while walking and during its transformation to rolling on flat ground