Jiang Lei, Xu Zhongqi, Zheng Tinglong, Zhang Xiuli, Yang Jianhua
School of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China.
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China.
Biomimetics (Basel). 2024 Feb 21;9(3):132. doi: 10.3390/biomimetics9030132.
In recent years, both domestic and international research on quadruped robots has advanced towards high dynamics and agility, with a focus on high-speed locomotion as a representative motion in high-dynamic activities. Quadruped animals like cheetahs exhibit high-speed running capabilities, attributed to the indispensable role played by their flexible spines during the flight phase motion. This paper establishes dynamic models of flexible spinal quadruped robots with different degrees of simplification, providing a parameterized description of the flight phase motion for both rigid-trunk and flexible-spine quadruped robots. By setting different initial values for the spine joint and calculating the flight phase results for both types of robots at various initial velocities, the study compares and analyzes the impact of a flexible spine on the flight phase motion of quadruped robots. Through comparative experiments, the research aims to validate the influence of a flexible spine during the flight phase motion, providing insights into how spine flexibility affects the flight phase motion of quadruped robots.
近年来，国内外对四足机器人的研究都朝着高动态性和敏捷性发展，重点关注高速运动，将其作为高动态活动中的一种代表性运动。像猎豹这样的四足动物展现出高速奔跑能力，这归因于它们灵活的脊柱在腾空阶段运动中所起的不可或缺的作用。本文建立了不同简化程度的柔性脊柱四足机器人动力学模型，对刚性躯干和柔性脊柱四足机器人的腾空阶段运动进行了参数化描述。通过为脊柱关节设置不同的初始值，并计算两种类型机器人在不同初始速度下的腾空阶段结果，该研究比较并分析了柔性脊柱对四足机器人腾空阶段运动的影响。通过对比实验，该研究旨在验证柔性脊柱在腾空阶段运动中的影响，深入了解脊柱灵活性如何影响四足机器人的腾空阶段运动。
