A Quadruped Robot with Three-Dimensional Flexible Legs

As an important part of the quadruped robot, the leg determines its performance. Flexible legs or flexible joints aid in the buffering and adaptability of robots. At present, most flexible quadruped robots only have two-dimensional flexibility or use complex parallel structures to achieve three-dime...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Sensors (Basel, Switzerland) Switzerland), 2021-07, Vol.21 (14), p.4907
Hauptverfasser: Huang, Wenkai, Xiao, Junlong, Zeng, Feilong, Lu, Puwei, Lin, Guojian, Hu, Wei, Lin, Xuyu, Wu, Yu
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:As an important part of the quadruped robot, the leg determines its performance. Flexible legs or flexible joints aid in the buffering and adaptability of robots. At present, most flexible quadruped robots only have two-dimensional flexibility or use complex parallel structures to achieve three-dimensional flexibility. This research will propose a new type of three-dimensional flexible structure. This passive compliant three-dimensional flexibility reduces the weight and complex structure of the robot. The anti-impact performance of the robot is verified by a side impact experiment. The simulation and experiments show that the robot still has good stability even under a simple algorithm and that the flexible leg can reduce the impact on the quadruped robot and improve the environmental adaptability of the robot.
ISSN:1424-8220
1424-8220
DOI:10.3390/s21144907