Design of a Spider Robot Based on Second-Order Immobilization Theory

This paper discusses a novel four-legged “spider” robot capable of moving in a wide range of two-dimensional tunnels. The spider moves in a quasistatic manner, by stably bracing itself against the tunnel walls while moving its free parts to the next position. The design has been strongly influenced by the recent immobilization theory of Rimon and Burdick [1, 2]. The theory dictates the minimum number of limbs such a spider can have, as well as the curvature of the spider footpads. We review the relevant components of the immobilization theory and describe its implications for the spider design. The spider will move under a worst-case assumption of slippery tunnel walls, and we also describe a locomotion strategy for the spider under this assumption Finally, we describe an immobilization-based control algorithm for executing the motion strategy, and sketch a stability proof for the algorithm. The spider has been built and is currently undergoing locomotion experiments.

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