Design and Analysis of New Energy-Efficient Legs for Quadruped Robots

doi:10.12068/j.issn.1005-3026.2016.04.019

Abstract

Abstract: The physiological characteristics of dog hind leg were analyzed， a flexible leg structure made of thigh and shank for integrative structure was presented. Only exerting drive in hip joint，the quadruped robot can realize trot gait. The model was analyzed dynamically and simulated by the ADAMS. The results showed that the quadruped robot with this structure can move stably and rapidly in trot gait. Compared with other quadruped robots which need drive in hip and knee joint simultaneously， we can reduce the drive torque and drive power of hip joint， foot contact force， and energy consumption. The cushioning property of this model is excellent. This leg structure of the quadruped robot is shown to be reasonable.

Key words: quadruped robot, bio-inspired, energy-efficient leg, dynamics analysis, simulation

CLC Number:

TP242.6

MA Zong-li， ZHU Yan-fang， LIU Yong-chao， WANG Jian-ming. Design and Analysis of New Energy-Efficient Legs for Quadruped Robots[J]. Journal of Northeastern University Natural Science, 2016, 37(4): 543-548.

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