Design of small and lightweight all-terrain octopod robot

The multi-legged robot has a discontinuous motion form and has more excellent multi-terrain motion ability than other types of mobile robots. It is widely used in planetary exploration, military reconnaissance, rescue and disaster relief, and other fields. In this paper, a small octopod robot driven by only two motors is proposed, which has the characteristics of lightweight. The optimization design of obstacle crossing ability and all-terrain adaptability is carried out, and the feasibility of the proposed scheme is verified by ADAMS simulation and principle prototype. The robot has the characteristics of less drive and strong all-terrain adaptability, which can be applied to extreme terrain reconnaissance and reconnaissance.