Inverse dynamics of different upright postures for the developed bio-inspired reconfigurable robot

The developed Bio-inspired Robot can transform its posture from erect to sprawl and vice versa. This paper deals with the inverse dynamics of various reconfigurable postures and a few inspired by nature. The corresponding joint torques are compared, in order to study the change in torque requirements for these postures. Initially, a reductionist model of robot walk was developed and joint torques were calculated analytically and compared with torque output obtained using "Solidworks" for verifying the model. Subsequently, inverse kinematics was carried out by assuming certain parameters such as velocity, stroke length, and robot dimensions. The angular velocity profiles obtained from inverse kinematics analysis were used to run inverse dynamics; thereby obtaining the joint torques. Using the same process for various configurations, we compared different postures and their torque requirements. These results can further be used to minimize torque and energy requirements, enabling the robot to reconfigures itself to the most energy efficient configuration suited to terrain changes. The potential fields of application of this robot include: search and rescue, surveillance and other military operations.