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Design of Claw-like Hand-foot Fusion Mechanism for the Multi-legged Robot

To improve the operational ability of the multi-legged robots, we design a novel hand-foot fusion mechanism (HFFM) which is inspired by the chicken claw. The HFFM has the fingers and palm which is similar to the chicken claw, which could not only assists the robot walking like robot's foot, but also envelope or pinch the objects. The structure of the HFFM consists of the underactuated mechanism finger (UMF) and the traditional passive compliance mechanism (TPCM). Based on the HFFM, the multi-legged robot is designed. Simulation results in ADAMS indicate that the HFFM not only enhances the stability of the robot but also endows the robot with the ability of enveloping or pinching objectives.