# Self-Configurable Centipede-Inspired Rescue Robot
## 4 Conclusions and Future Work  
Taking cues from the distinctive locomotion and anatomical structure of the centipede, the robot marks a revolutionary addition to the field of rescue robotics. It boasts exceptional stability, optimized gait patterns, remarkable robustness, and cutting-edge intelligence. By blending centipede-inspired adaptability with state-of-the-art robotics technology, this innovation positions the robot as a pioneer in insect-inspired rescue technology, offering unprecedented capabilities and performance in emergency response scenarios. With its unique design, the robot lays the way for future advancements in rescue robotics, rendering it a critical asset in emergency response operations. Through research and experimental verification, the design and functionality of the multi-segmented centipede robot were successfully validated. In our experiments, the robot exhibited distinct motion characteristics on both smooth and rough surfaces. On smooth surfaces, it maintained a stable trajectory, reaching a speed of 0.10 m/s with a foot lift height of 0.11 m and a gait cycle of 1.0 s. However, on rough terrain, ground protrusions introduced instability, leading to a decrease in displacement and speed to 0.05 m/s. Nevertheless, despite these challenges, the robot retains its mobility and foot lift height. These results underscore the robot's adaptability across diverse terrain environments, attributable to its carefully designed gait. Detailed analysis of gait performance yielded valuable insights into foot lift height, speed, and gait cycle, laying the groundwork for future optimizations. Potential improvements could target adjustments in speed or gait cycle to optimize performance for specific environments. To ensure stability on rough terrain, adjustments to the gait were implemented, including lowering the foot lift height to 0.02 m, reducing the step length, shortening the gait cycle to 0.5 s, and increasing the movement speed to 0.09 m/s. This robot, characterized by its flat structure and multi-legged maneuverability, is additionally equipped with scene-understanding capabilities. Its applicability broadens its potential applications to terrain exploration and disaster rescue, and beyond. The results demonstrate the robot's adaptability to distinct terrain environments due to its gait design. The gait optimization strategies discussed, including adjusting speed, gait cycle, and foot lift height, offer potential improvements for enhancing performance in specific scenarios. During the design and experimentation process, modern manufacturing and perception technologies, such as 3D printing and cameras, were fully implemented. These advanced technologies were crucial for the manufacturing and operational aspects of the robot, significantly enhancing its manufacturing efficiency and accuracy. Moreover, the robot was equipped with autonomous perception, enabling it to effectively respond to environmental challenges. When considering environmental comprehension, the robot is able of processing and analyzing environmental data in real-time, achieving an approximate speed of 15 frames per second. Moreover, it maintains a high confidence level of 80%, exhibits an F1 score of 93%, and maintains an average PR exceeding 98%. These metrics highlight the robot's reliability and efficiency in environmental understanding tasks. The findings of this study have direct implications for the field of robotics, particularly in the development of mobile robots capable of navigating across distinct terrains. The robot's performance characteristics and gait optimization strategies can inform future research regarding the design and development. However, the current study has several limitations that need to be addressed in future research. Firstly, the evaluation was conducted in controlled environments where predefined terrain types were considered; moreover, the robot was not exposed to a wide range of environmental variations.