Affiliation:
1. School of Electromechanical Engineering, Beijing Information Science & Technology University, Beijing 100192, China
2. Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China
Abstract
Traditional mobile robots have limited mobility in complex terrain environments. Generally, the closed-chain leg structure of a foot-type robot relies on the speed difference to turn, but it is difficult to complete the turning action in narrow spaces. Therefore, this study proposes a closed-chain foot-type robot that can move in multiple directions, inspired by the WATT-I leg structure. Firstly, the closed-chain single-leg structure is designed, and the leg structure is analyzed in terms of the degrees of freedom, kinematics, and singularity. A simulation is also carried out. Secondly, based on the present trajectory, a heuristic algorithm is used to solve the inverse trajectory problem, and the size of the mechanism is optimized. Finally, the steering mechanism of the leg with a zero turning radius is designed and analyzed, which achieves the steering function of the whole robot and satisfies the goal of enabling the foot robot to walk in all directions. This study provides theoretical guidance for the structural dimension optimization of the proposed foot mobile robot and its application in engineering fields such as rescue, exploration, and the military.
Funder
R&D Program of Beijing Municipal Education Commission
National Natural Science Foundation of China
Project of Cultivation for Young Top-Notch Talents of Beijing Municipal Institutions
Project of Beijing Information Science and Technology University
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