The domain of robotics is successfully automating majority of terrestrial applications with significant breakthroughs in research involving wheeled robots. Robots equipped with biomimetic capabilities can aid effectively in many scenarios where conventional infrastructure such as roads, flat terrains and wheeled robots are not available. 2DxoPod is a modular robot developed with the aim improve the mobility in robots in challenging scenarios by taking advantage of its features tuned to enhance biomimetic capabilities. A novel joint mechanism present at the center of the robotic design is capable of mimicking movements in vertebrates and providing two degrees of freedom that are orthogonal and coincident to each other. The paper describes characteristics of the 2DxoPod module and it’s advantages with respect to modular robots developed in the field of robotics. Simulations are performed on navigation capabilities of the snake and quadruped robotic coordinated structures assembled using 2DxoPod robotic modules using centralized pattern generator and the results of the same are also provided in the paper.

机器人领域正在成功地实现大多数地面应用的自动化，并在涉及轮式机器人的研究中取得了重大突破。具有仿生功能的机器人可以在许多传统基础设施（如道路，平坦地形和轮式机器人）不可用的情况下有效地提供帮助。2DxoPod是一种模块化机器人，其开发目的是通过调整其功能来增强仿生能力，从而在具有挑战性的情况下提高机器人的移动性。存在于机器人设计中心的新型关节机制能够模仿脊椎动物的运动，并提供正交和重合的两个自由度。本文描述了2DxoPod模块的特性及其相对于机器人技术领域中开发的模块化机器人的优势。通过使用集中式模式生成器，对使用2DxoPod机器人模块组装的蛇形和四足机器人协同结构的导航能力进行了仿真，并提供了其结果。