Journal of Bionic Engineering ›› 2019, Vol. 16 ›› Issue (4): 608-620.doi: 10.1007/s42235-019-0049-9
Improving Kinematic Flexibility and Walking Performance of a Six-legged Ro-bot by Rationally Designing Leg Morphology
Jie Chen1, Zhongchao Liang1*, Yanhe Zhu2*, Jie Zhao2
- 1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
Improving Kinematic Flexibility and Walking Performance of a Six-legged Ro-bot by Rationally Designing Leg Morphology
Jie Chen1, Zhongchao Liang1*, Yanhe Zhu2*, Jie Zhao2
- 1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
摘要： This paper explores the design of leg morphology in a six-legged robot. Inspired by nature, where animals have different leg morphology, we examined how the difference in leg morphology influences behaviors of the robot. To this end, a systematic search was conducted by scanning over the parameter space consisting of default angles of leg joints of the six-legged robot, with two main objectives: to maximize the kinematic flexibility and walking performance of the robot. Results show that (1) to have a high kinematic flexibility with both the torso and swing legs, the femur segment should tilt downwards by 5? – 10? and the tibia segment should be vertically downwards or with a slight inward tilt; (2) to achieve relatively energy-efficient and steady walking, the tibia segment should be approximately vertically downwards, with the femur segment tilting upwards to lower the torso height. The results of this study suggest that behaviors of legged robots can be passively enhanced by careful mechanical design choices, thereby leading to more competent legged machines.