Origaker: A Novel Multi-Mimicry Quadruped Robot Based on A Metamorphic Mechanism

Abstract This paper presents Origaker, a novel multi-mimicry quadruped robot. Based on a single-loop metamorphic mechanism, Origaker is able to transform between different working modes, such as reptile-, arthropod-, and mammal-like modes, etc. The combination of metamorphic mechanism and quadruped robot enables Origaker to pitch vertically, twist horizontally, and change the positional correlations amongst the trunk and four legs. In consideration of its reconfigurability, some gaits and movement strategies, namely the fast spinning gait, stair climbing gait, self recovery, packaging, crawling through narrow spaces and right-angled bends, were proposed and analyzed, demonstrating that the metamorphic mechanism provides the robot with enhanced locomotivity. Finally, a prototype was developed and experimentally tested. The experimental results show that the robot can crawl over various surfaces, perform the designed gaits and strategies on different terrains, and even overcome challenging obstacles.