{"title":"四足机器人专用弹性腿关节设计与实验研究","authors":"Zisen Hua, Chi Chen, Xuewen Rong, Yibin Li","doi":"10.1007/s42235-024-00640-1","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"642 - 653"},"PeriodicalIF":4.9000,"publicationDate":"2025-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and Experimental Study of Special Elastic Leg Joint for Quadruped Robots\",\"authors\":\"Zisen Hua, Chi Chen, Xuewen Rong, Yibin Li\",\"doi\":\"10.1007/s42235-024-00640-1\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>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.</p></div>\",\"PeriodicalId\":614,\"journal\":{\"name\":\"Journal of Bionic Engineering\",\"volume\":\"22 2\",\"pages\":\"642 - 653\"},\"PeriodicalIF\":4.9000,\"publicationDate\":\"2025-01-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Bionic Engineering\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://link.springer.com/article/10.1007/s42235-024-00640-1\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Bionic Engineering","FirstCategoryId":"94","ListUrlMain":"https://link.springer.com/article/10.1007/s42235-024-00640-1","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
Design and Experimental Study of Special Elastic Leg Joint for Quadruped Robots
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.
期刊介绍：
The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to:
Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion.
Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials.
Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices.
Development of bioinspired computation methods and artificial intelligence for engineering applications.
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