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A Quadruped Robot with Three-Dimensional Flexible Legs.

Wenkai Huang1, Junlong Xiao1, Feilong Zeng1

  • 1School of Mechanical & Electrical Engineering, Guangzhou University, Guangzhou 510006, China.

Sensors (Basel, Switzerland)
|July 24, 2021
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Summary

This study introduces a novel passive compliant three-dimensional flexible leg for quadruped robots, enhancing stability and adaptability. The new design reduces weight and complexity while improving impact resistance for better environmental interaction.

Keywords:
motion planning and controlquadruped mobile robotsrigid–flexible coupling

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Biomechanics

Background:

  • Quadruped robot leg design is crucial for performance, buffering, and adaptability.
  • Current flexible quadruped robots often exhibit limited 2D flexibility or rely on complex parallel structures for 3D flexibility.

Purpose of the Study:

  • To propose a novel passive compliant three-dimensional flexible leg structure for quadruped robots.
  • To reduce robot weight and structural complexity through the new flexible design.
  • To enhance the robot's anti-impact performance and environmental adaptability.

Main Methods:

  • Development of a new passive compliant three-dimensional flexible leg structure.
  • Verification of anti-impact performance through side impact experiments.
  • Simulation and experimental validation of robot stability and adaptability.

Main Results:

  • The proposed flexible leg structure successfully reduces robot weight and structural complexity.
  • Side impact experiments demonstrated the robot's enhanced anti-impact capabilities.
  • Simulations and experiments confirmed the robot's stability, even with a simple algorithm, due to the flexible leg.

Conclusions:

  • The novel 3D flexible leg design significantly improves quadruped robot impact resistance and environmental adaptability.
  • Passive compliance in the leg structure offers a lightweight and less complex solution for enhanced robot performance.
  • The flexible leg contributes to overall robot stability, enabling better interaction with diverse terrains.