Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots:design and realization  

作　　者：Yaguang ZHU Minghuan ZHANG Xiaoyu ZHANG Haipeng QIN 

机构地区：[1]Key Laboratory of Road Construction Technology and Equipment of Ministry of Education,School of Engineering Machinery,Chang’an University,Xi’an 710064,China [2]State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Frontiers of Mechanical Engineering》2024年第2期45-58,共14页机械工程前沿（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(Grant No.62373064);in part by the State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,China(Grant No.SKLRS-2023-KF-05);in part by the Fundamental Research Funds for Central Universities,China(Grants Nos.300102259308,300102259401).

摘　　要：Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding challenge.Although recent predictive control methods based on single-rigid-body models can generate dynamic motion,they all assume infinite energy,making them unsuitable for prolonged robot operation.Addressing this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure stability.This work draws inspiration from the efficiency of bio-inspired muscle–tendon networks and proposes a controllable torsion spring leg structure.The design integrates a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects.A leg control model that incorporates motor loads is developed to validate the response and dynamic performance of a leg with elastic joints.This model provides torque to the knee joint,effectively reducing the robot’s energy consumption through active or passive control strategies.The benefits of the proposed approach in agile maneuvering of quadruped robot legs in a realistic scenario are demonstrated to validate the dynamic motion performance of the leg with elastic joints with the advantage of energy-efficient legs.

关 键 词：dynamic responsiveness energy dissipation legged locomotion parallel joints quadruped robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]