Design and evaluation of Lizard-Inspired Single-Actuated robot
Abstract The purpose of this paper is to develop a new Lizard-Inspired Single-Actuated (LISA) robot prototype capable of achieving the theoretical maximum input angle. Various morphologies for one-degree-of-freedom (1-DOF) robots have been proposed in previous studies. However, these designs face ch...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2025-05-01
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| Series: | ROBOMECH Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s40648-025-00303-8 |
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| Summary: | Abstract The purpose of this paper is to develop a new Lizard-Inspired Single-Actuated (LISA) robot prototype capable of achieving the theoretical maximum input angle. Various morphologies for one-degree-of-freedom (1-DOF) robots have been proposed in previous studies. However, these designs face challenges due to their morphology, such as the need for toe slippage during walking. LISA introduces a new multi-legged morphology that overcomes these disadvantages, allowing propulsion and turning in 1-DOF. In this paper, we develop a new LISA prototype with the design requirement of achieving the theoretical maximum input angle while maintaining the robot’s morphology. Three key design points were identified to meet this requirement. The first is to design collision-free link geometry even at the maximum input angle. The second is to develop a push-back mechanism for posture recovery. The third is to implement balancing mechanisms. To evaluate the performance of the new prototype, we formulated the kinematics of LISA. The kinematic formulation defines the robot’s coordinate system, termed “robot coordinate,” and derives key parameters such as turning angle, stride length, posture, direction of travel, and curvature. We then experimentally evaluated the new prototype through two types of tests: a wobble and mechanism evaluation, and a motion performance evaluation. In the wobble and mechanism evaluation, we verified the reproducibility of the newly designed balance mechanism, the ability to achieve the maximum input angle, and the effectiveness of the push-back mechanism. Wobble and the angles of each link during walking were quantitatively measured. The results confirmed that the new LISA prototype meets the design requirement of achieving the maximum input angle and can produce a stable gait. In the motion performance evaluation, we compared the theoretical kinematics with LISA’s actual motion. Measurements from motion capture and angle sensors were compared with the theoretical values. Errors of approximately 4.7% for turning angle and 6.4% for stride length were observed. The causes of these errors are discussed, and the results confirm that the new LISA prototype performs effectively, validating this morphology. |
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| ISSN: | 2197-4225 |