Abstract
When legged robots walk on rugged roads, they would suffer from strong impact from the ground. The impact would cause the legged robots to vibrate, which would affect their normal operation. Therefore, it is necessary to take measures to absorb impact energy and reduce vibration. As an important part of a goat's foot, the hoof capsule can effectively buffer the impact from the ground in the goat's running and jumping. The structure of the hoof capsules and its principle of buffering and vibration reduction were studied. Inspired by the unique shape and internal structure of the hoof capsules, a bionic foot was designed. Experimental results displayed that the bionic foot could effectively use friction to consume impact energy and ensured the stability of legged robot walking. In addition, the bionic foot had a lower natural vibration frequency, which was beneficial to a wide range of vibration reduction. This work brings a new solution to the legged robot to deal with the ground impact, which helps it adapt to a variety of complex terrain.
Highlights
Mobile robots had received much attention in the past few years because they could play an important role in rescue operation, space exploration, and so on [1,2,3,4]
Corral et al reported a general approach for the dynamic modeling and analysis of a passive biped walking robot, with a particular focus on the feet-ground contact interaction
The experiment result displayed that a dissipative nonlinear Flores contact force model worked best [10]
Summary
Mobile robots had received much attention in the past few years because they could play an important role in rescue operation, space exploration, and so on [1,2,3,4]. The experiment result displayed that a dissipative nonlinear Flores contact force model worked best [10] These feet-ground contact impacts would cause the legged robot to vibrate, which would affect their walking stability, control precision, and service life [11,12,13]. Hashimoto et al reported a foot cushion device for the WL-16 robot It adopted a cam self-locking mechanism, which could be actively adjusted and controlled according to the force feedback of the contact position. Chang et al proposed a bionic robot foot based on the bone structure of the German shepherd dog It could transform the rigid contact between the robot and the ground into flexible contact and reduce the vibration caused by the impact of the ground [20]. Based on the above works, a bionic buffering and vibration reduction foot was designed
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