Abstract
The benefits of closed-chain leg mechanism with a single motor include simple control, high stiffness and full rotation driving. To utilize these benefits, a novel closed-chain elastic-bionic leg (CEL) with one actuated degree of freedom (DoF) based on spring-loaded inverted pendulum (SLIP) is proposed. First, high-speed requirements are presented in accordance with the features of the SLIP model. An eight-bar closed-chain linkage with a three-section structure is designed based on the muscle distribution and skeletal size of a cheetah leg with the insertion of sartorius and semimembranosus. Second, the desired foot trajectory is generated via kinematics analysis and dimensional synthesis. The functional relationship between the ground reaction force and driving force is then established using Lagrange's equation. Furthermore, the stiffness change of a virtual spring in the supporting phase is analyzed using an equivalence model. The simulation analysis of the movement velocity, spring deformation, vertical fluctuation, vertical force, and driving property for running gait is then conducted. The experimental prototype is fabricated and the running experiments on a treadmill are performed to assess the feasibility of the theoretical analysis.
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