Abstract
Aiming at highly dynamic locomotion and impact mitigation, this paper proposes the design and implementation of a symmetric legged robot. Based on the analysis of the three-leg topology in terms of force sensitivity, force production, and impact mitigation, the symmetric leg was designed and equipped with a high torque density actuator, which was assembled by a custom motor and two-stage planetary. Under the kinematic and dynamic constraints of the robot system, a nonlinear optimization for high jumping and impact mitigation is proposed with consideration of the peak impact force at landing. Finally, experiments revealed that the robot achieved a jump height of 1.8 m with a robust landing, and the height was equal to approximately three times the leg length.
Highlights
Legged robots have good potential for traversing difficult obstacles, and the execution of highly dynamic maneuvers—such as jumping and running—has attracted a lot of attention
This study developed a highly dynamic legged robot with an enhanced capability of high jumping and impact mitigation
A leg topology and nonlinear problem are presented in this paper
Summary
Legged robots have good potential for traversing difficult obstacles, and the execution of highly dynamic maneuvers—such as jumping and running—has attracted a lot of attention. Many state-of-the-art legged robots, such as Atlas [1], BHR [2], Bigdog [3], ANYmal [4], MIT Cheetah [5], Jueying [6], HyQ [7], SCalf [8], Minitaur [9], Stanford doggo [10], GOAT [11], and Salto [12], have achieved significant advancements. Many of the abovementioned legged robots can perform versatile and stable gait. Jumping is characterized by a large instantaneous ground reaction force (GRF) and short duration. The ground reaction force is determined by the leg topology and actuator, and there are countless design trade-offs and conflicts in the design goals. This study considered an actuator design and the synthesis of leg topologies to achieve the desired performance
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