Reconfigurable Hexapod-Serpentine Biomimetic Robot: Design and Experiments

With the development of robotics technology, traditional single-mode robots struggle to adapt to complex environments. To address this challenge, we develop a multi-modal reconfigurable robot capable of adapting to the complex environments. The robot, known as the Hexapod-Serpentine Biomimetic Robot(HSBR), features a reconfigurable interface that allows it to perform various tasks, including mobility, operational functions, and narrow pipeline detection. To achieve independent and combined movements in the HSBR, we implemented hexapod triangular gait planning, meandering gait planning, and mobile grasping operations. Additionally, we designed a controller to manage these functions. Results show that the designed robot has good performance in detection and manipulation in complex terrains.