Design of a walking/rolling robot with pneumatic muscle actuator

This thesis seeks to support this initiative by investigating the design of a large all terrain robotic platform capable of remote operations in a range of complex and hostile environments. Called the Armabot, the platform employs a reconfigurable mechanical structure that can perform both walking and rolling locomotion. Dependent on the demands of the tasks being performed and the environment in which they are undertaken, this allows the robot to take advantage of high open ground rolling speed or stable walking manoeuvrability in rough or uneven terrain.