Central Patten Generator Based Locomotion in Inchworm Robot

In this paper we have designed and implemented a four link inchworm robot in order to study the locomotion of an inchworm. The robot movements are achieved with the combined actions of a single servo motor driving a linear actuator between first and last links and the compressible spring attached between two middle links. Gripping property of front-end group and rear-end group of legs in the inchworm is mimicked by using electromagnets. In order to generate a rhythmic gait of the robot, the network of central pattern generators (CPG) is proposed. Since the proposed robot system makes use of the magnetic device, it can be used for the inspection of metallic structures, i.e., pipelines or air condition ducts.