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...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 21; no. 14; p. 4907
Main Authors Huang, Wenkai, Xiao, Junlong, Zeng, Feilong, Lu, Puwei, Lin, Guojian, Hu, Wei, Lin, Xuyu, Wu, Yu
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 19.07.2021
MDPI
Subjects
Adaptability
Air bags
Carbon fibers
Compliance
Control algorithms
Design
Flexible structures
Hydraulics
Legs
motion planning and control
quadruped mobile robots
rigid–flexible coupling
Robots
Side impact
Silicones
Weight reduction
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Summary: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.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s21144907