Design and Experimental Study of Special Elastic Leg Joint for Quadruped Robots  

作　　者：Zisen Hua Chi Chen Xuewen Rong Yibin Li 

机构地区：[1]School of Artificial Intelligence,Anhui University of Science&Technology,Taifeng Road,Huainan,232001,Anhui Province,China [2]School of Control Science and Engineering,Shandong University,Jingshi Road,Jinan,17951,Shandong Province,China

出　　处：《Journal of Bionic Engineering》2025年第2期642-653,共12页仿生工程学报(英文版)

基　　金：supported by the National Natural Science Foundation for general program of China(Grant No.62373217).

摘　　要：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.

关 键 词：Quadruped robot Passive compliance Leg joint Motion energy efficiency 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]