Effect of the vertical rotation inspired by a beetle claw on walking distance of a robot

Abstract

This study designed a walked robot which had a rotating motion of an artificial claw to imitate the beetle walking and confirmed the effect of the claw vertical rotating or not on the walking distance of the robot. The walking distance by the robot when the claw rotates and when the claw fixed was measured from the displacement of the robot's position. The walking distance by the robot with the rotating claw motion was longer than that by the robot with the fixed rotating claw motion. Therefore, we could conclude that the rotating motion of the claw is necessary for the smooth walking of the robot. This result was similar to the result of the claw vertical rotating or not on a beetle, but this cause was considered to be different. It was suggested that the result may be affected by the differences of the claw direction and the leg motion between a beetle and the robot.