Affiliation:
1. School of Mechanical Engineering Beijing Institute of Technology Beijing 100081 China
2. School of Artificial Intelligence Beijing Technology and Business University Beijing 100048 China
3. Division of Intelligent and Biomechanical Systems State Key Laboratory of Tribology Department of Mechanical Engineering Tsinghua University Beijing 100084 China
Abstract
AbstractAdvances in bionic technology have enabled quadruped robots to be more flexible. Numerous quadruped robots in various forms specialize in walking and trotting, whereas very few robots achieve high‐performance obstacle‐overcoming. A bionic quadruped standing long jump obstacle‐overcoming robot is presented. By using two synchronous belts and energy storage, this robot is capable of high‐performance jumping. A flexible spine for the bionic quadruped obstacle‐overcoming robot is also presented to achieve energy storage and shock absorption during obstacle‐overcoming. Furthermore, the control framework by establishing the dynamic models of the single limb is proposed. To validate the feasibility and accuracy of the design theory and robot scheme, simulations are conducted. The results of these simulations clearly illustrate the robot's ability to successfully overcome obstacles of varying heights, thereby affirming the correctness of its limb dynamics models. In comparison to traditional quadruped robots, the bionic quadruped obstacle‐overcoming robot proves its efficacy in navigating challenging terrains.
Funder
National Key Research and Development Program of China
National Natural Science Foundation of China
Natural Science Foundation of Beijing Municipality
National Science and Technology Major Project