We are creating a robotic crab. This will include an outer casing that will mechanically open as the legs are extended out. The legs will function as a Klann Jensen Linkage, where there are two legs on either side, with gears and a DC motor driving the steps of the legs. Examples of this mechanism can be seen in Figure 1 and Figure 2. This robotic crab was designed with real-life crabs in mind. A crabs shell is meant to protect it from its environment, which leads to the creation of the outer casing design of our robot. The legs were also inspired by crabs as they allow the crabs to crawl in various terrains while having extraordinary stability.
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