Design and Implementation of Symmetric Legged Robot for Highly Dynamic Jumping and Impact Mitigation

Area of Science:

• Robotics
• Mechanical Engineering
• Biomechanics

Background:

• Developing legged robots for dynamic locomotion and impact mitigation is crucial for applications like disaster response and exploration.
• Existing designs often face challenges in balancing jumping performance with landing stability.
• Analysis of three-leg topologies reveals trade-offs in force sensitivity, production, and impact absorption.

Purpose of the Study:

• To design and implement a symmetric legged robot optimized for high jumping and robust impact mitigation.
• To integrate a high torque density actuator for enhanced performance.
• To develop a nonlinear optimization strategy considering peak impact forces during landing.

Main Methods:

• Design of a symmetric three-leg topology based on force analysis.
• Assembly of a custom high torque density actuator using a motor and two-stage planetary gearbox.
• Implementation of a nonlinear optimization algorithm for jumping and landing under kinematic and dynamic constraints.

Main Results:

• The developed symmetric legged robot achieved a jump height of 1.8 meters.
• The robot demonstrated robust landing capabilities, mitigating impact forces effectively.
• The achieved jump height was approximately three times the robot's leg length.

Conclusions:

• The symmetric legged robot design successfully addresses the dual requirements of dynamic locomotion and impact mitigation.
• The integrated high torque density actuator and nonlinear optimization strategy are key to achieving high jump performance and stable landings.
• This research provides a foundation for future advancements in legged robotics for challenging environments.