A Bio-inspired Reconfigurable Robot

This paper presents a reconfigurable biomimetic robot. The robot is able to mimic a kind of huntsman spiders which can crawl and roll by reforming its legs. Mechanical design, control architecture, motor selection targeting on miniaturization are presented in detail. Due to the reconfigurability of the legs, the robot can recover to the standing state from sideway and upside-down fallen states with the help of IMU. Moreover, the vision system enables the robot to change the locomotion by perceiving different terrains autonomously. The potential fields of applications of the proposed robot would be military, search and rescue, entertainment, etc.