A Quadruped Robot with Three-Dimensional Flexible Legs

Abstract

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.

Accessorizing Quadrupedal Robots with Wearable Electronics

“…Huang et al explored the importance of having 3D flexibility using a relatively simple and practical leg structure. [ 29 ] Inspired by biomimetics, the authors proposed a novel approach that maximizes both adaptability and speed by combining flexibility and rigidity (see Figure 1e). The structure's design uses flexible airbags and rigid bones.…”

Perspective Of Vision, Motion Planning, And Motion Control for Quadruped Robots

“…The quadruped robot is seen strolling on the ground in Figure 7(a). When comparing the simulation results of flexibility and rigidity when traversing difficult terrain, Wenkai Huang's flexible quadruped robot illustrates how the robot's flexible legs improve its stability while moving [12]. The actual motion results are superior to the rigid simulation results, but when compared to the flexible simulation results, the robot motion error is greater than the simulation results due to a number of issues, including where the center of gravity is, assembly mistakes, and artificial flaws in the creation of flexible legs.…”

Research on Motion Control of Bionic Sucker Inchworm Robot Based on MPC

“…Where 𝑾 𝑥 , 𝑾 𝑢 and 𝑾 𝜆 are coefficient matrices. Through equation ( 6) and equation (7), the standard quadratic programming function can be obtained as shown in Equation (8).…”

“…This control method was similar to the singlelegged control of multi-legged robots [7]. Compared with multi-legged robots, it shows simple and efficient advantages in both mechanical and control aspects [8][9][10]. In order to further simulate the peristaltic movement of the inchworm, researchers from Virginia Tech University improved and designed the millipede robot, adding a large number of gastropods to its trunk structure, which made the robot move through the swing of the abdominal foot [11,12].…”