Abstract
To solve the problems of large landing impact, vibration, and poor adaptability to complex ground surfaces in the motion of a foot-type robot, a two-degree-of-freedom flexible foot-end structure was proposed and designed in this study. The effects of flexible materials, flexible parameters, and structural forms on the performance of the foot end have been discussed. Through simulation and experimentation, the parameter analysis and mechanical calibration of the foot end were completed, and a motion experiment of the flexible foot robot was designed. The simulation and experimental results showed that the flexible foot-end structure has uniform and reliable force and can effectively reduce the foot impact. Compared with the rigid foot, the foot-end force of the flexible foot was only 1/3 of the contact force, the peak foot pressure decreased by 59%, the motion stability increased by 37.4%, and the error of force perception was controlled at 11%. The flexible foot structure improved the stability of the robot motion process, reduced the vibration, provided the robot with good terrain adaptability, and achieved omnidirectional motion of the robot.
Highlights
Multi-legged robots are widely used in complex working environments due to their strong terrain adaptability and high flexibility [1,2]
The results show that the trunk variation of the robot with the flexible foot was significantly smaller than that of the robot with the rigid foot, which was beneficial for the stability of the robot motion
To overcomefound the shortcomings of low motion efficiency, large impact, andflexible poor terrain adaptability adaptability in previous robot foot designs, a two-degrees-of-freedom foot structure found in previous robot foot designs, a two-degrees-of-freedom flexible foot structure was was proposed and designed in this study
Summary
Multi-legged robots are widely used in complex working environments due to their strong terrain adaptability and high flexibility [1,2]. Research on flexible materials and flexible mechanisms is of great significance in improving the service life, compliance control, stability, and terrain adaptability of legged robots [7,8]. Hamill [13] and Guo [14], designed a flexible foot crawling robot that could buffer the impact between the foot and terrain and sense the ground environment. It was shown in Reference [15,16] that a passive buffer structure composed of linear springs was attached to the foot tip of the quadruped robot, which provided good buffering when the robot struck the ground. The experimental results showed that the flexible foot designed in this study can effectively reduce impact force, improve the stability of the robot’s motion, and offer good terrain adaptability.
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