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Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control.

Xiang Li1, Zhe Suo1, Dan Liu2

  • 1Key Laboratory of CNC Equipment Reliability, Ministry of Education, School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China.

Biomimetics (Basel, Switzerland)
|October 25, 2024
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Summary
This summary is machine-generated.

Bionic robots with flexible bodies offer enhanced speed, stability, and adaptability for complex terrains. This review details their innovative designs, motion enhancements, and control methods for future development.

Keywords:
CPGbionic controlbionic robotsflexible bodylocomotionmulti-legged robotsspine

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Area of Science:

  • Robotics and Bionics
  • Mechanical Engineering

Background:

  • Bionic multi-legged robots are inspired by nature's locomotive strategies.
  • Flexible-bodied robots demonstrate superior mobility compared to rigid-bodied counterparts.
  • Adaptability across challenging terrains is a key advantage of flexible designs.

Purpose of the Study:

  • To systematically review innovative flexible body designs in bionic robots.
  • To analyze how flexible bodies enhance robotic motion and control.
  • To provide an overview of current control methods and future prospects.

Main Methods:

  • Systematic review of structural designs, including artificial spines and articulation mechanisms.
  • Analysis of the impact of body degrees of freedom, stiffness, and limb-body coordination on motion.
  • Comprehensive overview of robotic control methods organized by architecture.

Main Results:

  • Flexible bodies significantly improve locomotive speed, stability, and adaptability.
  • Body degrees of freedom, stiffness, and coordinated control are crucial for enhanced motion.
  • Various control architectures exist for managing flexible-bodied robots.

Conclusions:

  • Flexible bodies represent a significant advancement in bionic robot design.
  • Further research into control strategies and material science is needed.
  • Bionic robots with flexible bodies hold great promise for diverse applications.