Abstract
As an important basic component of quadruped robots, mechanical legs provide the robots with excellent maneuverability and versatility, which determine the core application performance such as job adaptability, walking speed, and load capacity. A large number of robotics institutes for the last few decades have studied mechanical legs used by quadruped robots and published many research results. In this article, we collect these research results and classify them into three categories (prismatic legs, articulated legs, and redundant articulated legs) according to the degrees of freedom and then introduce and analyze them. On this basis, we summarize and study the design methods of the actuators and mechanical leg structures. Finally, we make some suggestions for the development of quadruped robot’s legs in the future. The motivation of this review is to summarize and analyze previous research efforts and provide useful guidance for future robotic designers to develop more efficient mechanical legs of quadruped robots.
Highlights
Since the establishment of bionics in 1960, the delicate structure, movement mechanism, and behavior manner of organisms have become the objective of robotic imitation.[1]
Just as the famous Japanese foot robot research scholar Shigeo Hirose believes that the quadruped robot is the best form of legged robots from the aspects of stability and control difficulty and manufacturing cost
The mechanical leg is driven by series elastic actuator (SEA) composed of a micro-drive chain/cable pulley and a linear compression spring, which can realize the compliant output of the joint and the upward movement of the joint motor, reducing the hardware performance requirements for the controller, the actuator, and the transmission
Summary
Since the establishment of bionics in 1960, the delicate structure, movement mechanism, and behavior manner of organisms have become the objective of robotic imitation.[1]. It shows that the School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, China. There is still a big gap between the performance of mechanical legs and current expectations Performance indicators such as mechanical strength, energy efficiency, overall power density, or payload-to-weight ratio of the mechanical leg in the impact and propulsion state are not satisfactory.[6] it is necessary and priority to carry out the analysis and research work of mechanical legs. Several suggestions are made for the future development of the mechanical legs in the fourth section, followed by a conclusion
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