Design and Development of Crawling Mobile Robot with 2-DOF Robot Arm

The paper presents a design of one hand crawling mobile robot capable of robust locomotion in unstructured environments. This robot contains two freely spinning wheels and 2-joint robotic arm, i.e. a two-degree of freedom (2-DOF) arm, driven by two servo motors. The motion of overall robotic system is obtained by moving the robotic arm. Robotic platform is equipped with two ultrasonic sensors for obstacle detection. Based on sensor measurements the robot system calculates a distance to the obstacle and deduces how far it can move to the obstacle without collision. The control algorithm is implemented on Arduino control board. Developed crawling mobile robot system was tested through experiments.