Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

doi:10.1016/S1672-6529(14)60017-2

摘要/Abstract

关键词: biomimetic design, legged robot, optimal control, biological movement principle, Gauss pseudospectral method

Abstract:

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-II, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method (GPM) based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.

Key words: biomimetic design, legged robot, optimal control, biological movement principle, Gauss pseudospectral method

Jie Chen, Yubin Liu, Jie Zhao, He Zhang, Hongzhe Jin. [J]. J4, 2014, 11(1): 26-35.

Jie Chen, Yubin Liu, Jie Zhao, He Zhang, Hongzhe Jin. Biomimetic Design and Optimal Swing of a Hexapod Robot Leg[J]. J4, 2014, 11(1): 26-35.

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