Gait analysis and control of a deployable robot

Deployable structures have the advantage of being able to change their size and morphology significantly with minimal mobility. Yet, there are very limited numbers of deployable robots. This paper proposes a transformable robot by applying a threefold-symmetric Bricard linkage as the body structure. The geometrics of the robot are investigated to set up relationships between its height/foot span and the joint angles of the linkage. The locomotion gaits of the robot can be realized through the deploying and folding motions of the Bricard linkage. From this, the corresponding gait controller is designed. Experimental results show that the robot can move in an arbitrary direction and follow a given path. Moreover, it is capable of moving through limited space easily by changing its configuration from folded to deployed, and vice versa.