VAM: Hypocycloid Mechanism for Efficient Bioinspired Robotic Gaits

We present variable amplitude module orthogonal slider (VAMOS), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a variable amplitude module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can, therefore, operate it at peak efficiency throughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.