Locomotion Principles for Mobile Robotic Systems

Locomotion of mobile robots over surfaces and in various media can be based upon different principles. The most widespread types of locomotion are motions using special outer devices like wheels, legs, tracks, and propellers. Also, locomotion of multibody systems can be based upon periodic change of configuration of the system. In the paper, such types of progressive motions for multibody robotic systems are discussed and illustrated. Some of these types of locomotion are similar to those used by living organisms: animals, fish, and insects. Other types have no obvious analogs in the nature. The following locomotion principles are discussed.