Bo Zhang

Kinematic Design and Simulation of a Rigid–Flexible Caterpillar Robot with Opposite-Handed Kresling Cell Pairs

Inspection in confined and unstructured environments requires compact crawling robots to coordinate large axial deformation, foot orientation, and multiple anchoring sites within a limited body length. The intrinsic axial–torsional coupling of Kresling cells, however, makes it difficult to map rotational inputs directl...