Abstract: In this paper, a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption. The innovative structure cleverly incorporates micro-plate springs, offering significant stiffness adjustment capabilities. To meet the stiffness requirements, the relationships between foot-ground contact force and the deformation force of the elastic component, as well as the influence of elastic component deformation and foot cushioning amplitude are comprehensively analyzed. With the aid of finite element optimization analysis, a single-leg experimental platform is designed, and the effectiveness and applicability of the novel structure are validated through experiments including unloaded free swinging, freely falling body motion and ground squats experiments. Comparative experiments results show the evident superiorities of the passive compliance joint.

Key words: Quadruped robot')">Quadruped robot, Passive compliance, Leg joint, Motion energy efficiency