Optimal Design to Improve the Performance of Impact Resistance and Obstacle Surmounting for Legged Robots

Legged robots are widely used for walking, running, jumping, and landing on the ground. As mission terrains become increasingly complex, legged robots with greater adaptability are required. However, limited research attention has been paid to enhancing their impact resistance and obstacle-surmounting capabilities. Due to the limitations of motor manufacturing and material, it is more difficult to improve the impact resistance of the motor than to design proper leg lengths. Considering rigid multi-link medium- and large-sized legged robots, we optimize leg lengths to minimize the impact torque on leg joints. An optimal leg-length combination that maximizes obstacle-surmounting capability for medium- and large-size multi-link legged robots is conducted. This research provides a concrete design basis for leg-length optimization in medium- and large-sized multi-link legged robots with the aim of improving impact resistance and obstacle surmounting.