2025
Design of an Articulated Modular Caterpillar Using Spherical Linkages
ICRA 2025
Articulation between body segments of small insects and animals is a three degree-of-freedom (DOF) motion. Implementing this kind of motion in a compact robot is usually not tractable due to limitations in small actuator technologies. In this work, we concede full 3-DOF control and instead select a