Li Xiang, Suo Zhe, Liu Dan, Liu Jianfeng, Tian Wenqing, Wang Jixin, Wang Jianhua
Key Laboratory of CNC Equipment Reliability, Ministry of Education, School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China.
National Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology, Inner Mongolia First Machinery Group Co., Ltd., Baotou 014030, China.
Biomimetics (Basel). 2024 Oct 15;9(10):628. doi: 10.3390/biomimetics9100628.
Bionic multi-legged robots with flexible bodies embody human ingenuity in imitating, learning, and exploring the natural world. In contrast to rigid-body robots, these robots with flexible bodies exhibit superior locomotive capabilities. The flexible body of the robot not only boosts the moving speed and walking stability but also enhances adaptability across complex terrains. This article focuses on the innovative design of flexible bodies. Firstly, the structural designs, including artificial spines and single/multi-axis articulation mechanisms, are outlined systematically. Secondly, the enhancement of robotic motion by flexible bodies is reviewed, examining the impact that body degrees of freedom, stiffness, and coordinated control between the body and limbs have on robotic motion. Thirdly, existing robotic control methods, organized by control architectures, are comprehensively overviewed in this article. Finally, the application prospects of bionic multi-legged robots with flexible bodies are offered, and the challenges that may arise in their future development are listed. This article aims to serve as a reference for bionic robot research.
具有灵活身体的仿生多足机器人体现了人类在模仿、学习和探索自然世界方面的智慧。与刚体机器人相比，这些具有灵活身体的机器人展现出卓越的 locomotive 能力。机器人的灵活身体不仅提高了移动速度和行走稳定性，还增强了在复杂地形上的适应性。本文重点关注灵活身体的创新设计。首先，系统地概述了包括人工脊柱和单/多轴关节机构在内的结构设计。其次，回顾了灵活身体对机器人运动的增强作用，研究了身体自由度、刚度以及身体与肢体之间的协调控制对机器人运动的影响。第三，本文按照控制架构对现有的机器人控制方法进行了全面概述。最后，给出了具有灵活身体的仿生多足机器人的应用前景，并列出了其未来发展中可能出现的挑战。本文旨在为仿生机器人研究提供参考。
