ZineDyn - Centipede Inspired Robot from KAIST
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Uploaded by boazyang on Jan 20, 2009
My master's thesis was on this centipede inspired modular robot for obstacle terrain locomotion. It is a 24 legged robot with single motor for actuation.
This video includes some of the uneven terrain locomotion experiments that I did with the second prototype of ZineDyn from KAIST.
I am open to all questions and comments to my email boazyang@hotmail.com.
Thanks & Enjoy
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Uploader Comments (boazyang)
All Comments (8)
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it's absolutely superb design...luv it.Lotz of hardwork...we tried to make one but wasnt quiet succesfull...was stuck wid the connection b/w the main shaft and legs...wpuld you help us
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It's Beautiful why Mother nature gave man to create complexed machines for traveling!
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is there a way to make it turn?
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Very nice job! 5 stars
I love your design! I just got and built the Mechamo Centipede robot in my university robotics club. How many motors does your design use?
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I wonder if that can be use as a vehicle for transportation if that is necessarily?
Roachmins 1 year ago
@Roachmins Sure... i see no reason why not!
at the current scale, it could transport compact and light-weight transports.
but if it gets scaled up to something like a human transport vehicles and with some design modifications it should be able to perform some effective transportation through obstacle terrains!
boazyang 1 year ago
This is quite impressive! Well done! I was wondering if the compliance on the body joints is at both pitch and yaw axes and if there is a single spring for that at each joint..
kkarakasiliotis 2 years ago
Thanks for the comment.
For your question, Yes each joint is compliant in both pitch and yaw axes, and yes there is one spring per joint as seen in the video.
boazyang 2 years ago
Not with this prototype unfortunately.
However, there are some students working on a newer version with active turning and pitching capabilities.
boazyang 2 years ago
Hey "sporecheater" ^^ Thanks for your comment!
For your question... the robot uses only one motor for actuation which is located inside of the rearmost module. You can notice that it is a bit longer than the rest and that's because there is a motor inside. All the legs are mechanically connected to this motor.
All the best with your work!
boazyang 2 years ago