Abstract
To look for the reason why the biped animal in nature can run with such high speed and to design a bionic biped prototype which can behave the high speed running and jumping ability, this paper takes the fastest bipedal animal in nature: ostrich as the research subject. Firstly, the body structure and motion characteristics of ostrich are investigated. Secondly, a simple mechanical structure of bionic ostrich robot is designed based on the above biological investigated results. The robot is under-actuated with one actuator each leg, with a spring on the tarsometatarsus and a torsion spring on the metatarsophalangeal joint at the foot end. And then the mechanical design of leg structure is optimized. Finally, the high-speed running and jumping running gait is planned, and comparative simulations are implemented with different design requirements among pure rigid and rigid-flexible coupling scheme, which are rigid, only with spring, only with torsion spring, and with spring and torsion spring both, in detail. Simulation results show that the rigid-flexible coupling design scheme and whole body motion coordination can achieve better high speed performance. It provides an insight for the design and control of legged robots.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
