“Mod-Leg” A modular Legged robotic system

Sriranjan Rasaktla    K. Madhava Krishna    Bipin Indurkhya   

IIIT Hyderabad, India   

The Modular Legged robotic system [1] “Mod-Leg” presented here has been bio-inspired from a Snake’s vertebrae and a caterpillar’s legged structure. The system can be configured to a 4-legged robotic dog, a hexapod, a caterpillar and a Snake robot. This robot’s novel design achieves compliance to the terrain using a combination of legs and electronically actuated universal spine. A unique simulator has been designed for this purpose. Some of the things we learned while developing this robotic system have been presented below.