Design of a Theo Jansen-Type Locomotion System and Its Integration with an Autonomous Control System for Navigation on Uneven Terrain

This paper presents the design and analysis of an autonomous mobile robot for solid waste collection in hard-toreach areas of Metropolitan Lima. Conventional methods of locomotion, such as wheels or tracks, have limitations in uneven terrain, such as hills and unstructured urban areas. To overcome these barriers, a locomotion mechanism inspired by Theo Jansen is proposed, which allows better adaptability and energy efficiency on complex surfaces. The prototype integrates two main components: (1) a stability control system based on an Inertial Measurement Unit (IMU), which dynamically adjusts the robot's displacement to maintain its balance; and (2) a navigation module using odometry and inertial sensors, which allows autonomous control of movement and adaptation to terrain irregularities. The methodology includes mechanical modeling in CAD, structural and dynamic simulations on irregular surfaces, and performance analysis of the locomotion system. Improvements in traction, stability and adaptability are expected compared to traditional systems. This work seeks to contribute to the development of efficient robotic platforms for operations in unstructured and difficult-to-access environments.