Conceptual design of a multibody passive-legged crawling vehicle

J. R. Stulce, William D. Burgos, S. G. Dhande, C. F. Reinholtz

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations


Previous designs of walking vehicles relied on the concept of a single rigid body having one or several actuated legtype mechanisms. The concept proposed in this paper is based on the idea of an actuated multibody structure involving only movements of the trunk. The legs are passive. The structure of the flexible segmented body is realized using a series of variable geometry trusses (VGTs), which results in a configuration very similar to the body structure of insect larvae known as caterpillars. The authors propose that a VGT-based vehicle could emulate the excellent stability and mobility of its natural counterpart, the caterpillar, while holding the complexity of the power transmission and control algorithm to a minimum.

Original languageEnglish (US)
Number of pages7
StatePublished - Dec 1 1990
Event21st Biennial Mechanism Conference - Chicago, IL, USA
Duration: Sep 16 1990Sep 19 1990


Other21st Biennial Mechanism Conference
CityChicago, IL, USA

All Science Journal Classification (ASJC) codes

  • General Engineering


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