Quadruped Robot Calf Joint Actuator Molding and Design Based on Dynamic Similarity Hypothesis

Abstract

The effectiveness of a quadruped robot's speed and stability heavily relies on its calf joint actuator. Conventional approaches are no longer viable for designing calf joint actuators, given their operation in multiple modes. Crafting a suitable calf joint actuator puts forward a considerable challenge. In response to this challenge, a novel technique method is presented, drawing inspiration from the dynamic similarity hypothesis. The devised approach for designing calf joint motors provides for the accurate determination of calf joint specifications without the need for intricate analysis of kinematic motion patterns. Consequently, this methodology offers advantages such as reduced time commitment, heightened efficiency, and cost-effectiveness in crafting calf joint actuators. In this study, we investigate how variables such as leg length and body mass influence the characteristics of calf joints. The relationships, between the demands on joint speed and torque requirements in calf joints and the velocity of movement, are designed to elucidate in a model. This model incorporates a limited number of unidentified coefficients, established through the substitution of experimental data from calf joints. Moreover, this study incorporates conventional principles in the design of calf joint actuators to validate the precision of the presented methodology. Ultimately, the efficacy of the formulated procedure is affirmed through a combination of experimental testing.