Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (6): 2570-2589.doi: 10.1007/s42235-023-00412-3

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Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg

Yuze Xu, Zirong Luo, Xiangjuan Bai, Huixiang Xie, Yiming Zhu, Shanjun Chen & Jianzhong Shang    

  1. Yuze Xu1; Zirong Luo1; Xiangjuan Bai1; Huixiang Xie2; Yiming Zhu1; Shanjun Chen1; Jianzhong Shang1
  • 出版日期:2023-10-16 发布日期:2023-11-20
  • 通讯作者: Zirong Luo; Jianzhong Shang E-mail:luozirong@nudt.edu.cn;jz_shang_nudt@163.com
  • 作者简介:Yuze Xu1; Zirong Luo1; Xiangjuan Bai1; Huixiang Xie2; Yiming Zhu1; Shanjun Chen1; Jianzhong Shang1

Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg

Yuze Xu, Zirong Luo, Xiangjuan Bai, Huixiang Xie, Yiming Zhu, Shanjun Chen & Jianzhong Shang    

  1. Yuze Xu1; Zirong Luo1; Xiangjuan Bai1; Huixiang Xie2; Yiming Zhu1; Shanjun Chen1; Jianzhong Shang1
  • Online:2023-10-16 Published:2023-11-20
  • Contact: Zirong Luo; Jianzhong Shang E-mail:luozirong@nudt.edu.cn;jz_shang_nudt@163.com
  • About author:Yuze Xu1; Zirong Luo1; Xiangjuan Bai1; Huixiang Xie2; Yiming Zhu1; Shanjun Chen1; Jianzhong Shang1

摘要: Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment, just like natural living beings. And the smart design could efficiently improve the performance of a robotic leg. Inspired by the simplified human leg structure, we present a 3-DOF robotic leg—OmniLeg, that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot. Additionally, the concentrated drive mode, in which all the motor actuators are installed in the torso and do not move with the leg, minimizes the inertia of the robotic leg. In this paper, the modular design, the kinematics model, the structural analysis, the workspace, and the performance evaluation of the OmniLeg are discussed. Furthermore, we build a prototype based on the proposed design, and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint. Then, we present an OmniLeg-based single legged mobile robot. The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.

关键词: Human leg , · Robotic leg , · Omnidirectional legged locomotion , · Spatial dual-parallelogram-linkages , · Spatial closed-loop four-bar

Abstract: Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment, just like natural living beings. And the smart design could efficiently improve the performance of a robotic leg. Inspired by the simplified human leg structure, we present a 3-DOF robotic leg—OmniLeg, that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot. Additionally, the concentrated drive mode, in which all the motor actuators are installed in the torso and do not move with the leg, minimizes the inertia of the robotic leg. In this paper, the modular design, the kinematics model, the structural analysis, the workspace, and the performance evaluation of the OmniLeg are discussed. Furthermore, we build a prototype based on the proposed design, and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint. Then, we present an OmniLeg-based single legged mobile robot. The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.

Key words: Human leg , · Robotic leg , · Omnidirectional legged locomotion , · Spatial dual-parallelogram-linkages , · Spatial closed-loop four-bar