A compliant leg design combining pantograph structure with leaf springs

doi:10.1017/S0263574723001443

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	A compliant leg design combining pantograph structure with leaf springs
	Wang, Boxing; Zhang, Kunting; Ma, Xueyan; Jia, Lihao
刊名	ROBOTICA
	2023-11-07
页码	15
关键词	legged robots biomimetic robots design bipeds humanoid robots
ISSN号	0263-5747
DOI	10.1017/S0263574723001443
通讯作者	Jia, Lihao(lihao.jia@ia.ac.cn)
英文摘要	We proposed a compliant leg configuration that enhances the conventional pantograph design with leaf springs. The following facts characterize the proposed configuration: (1) Due to the use of the pantograph structure, the mass is centralized around the hip joint, reducing the lower leg inertia; (2) Leaf springs are chosen as elastic parts to increase energy efficiency and estimate foot-end contact forces. Compared with coil springs, leaf springs require no guide rails to deploy, and their stiffness can be easily adjusted through shape cutting. Analytical models are introduced to analyze the leg's stiffness and estimate the contact forces only with the deflections of leaf springs. A one-leg robot based on the proposed design is built, and various experiments are conducted. Experiments regarding the stiffness calibration and the contact forces estimation showed an acceptable agreement with the analytical model. Experiments of dropping demonstrate the feasibility of the leg to perform spring-like behaviors. Experiments of periodic hopping demonstrate the feasibility of using spring deflections to detect touch-down events. For energy efficiency, it is also observed that the elastic leg has a 20% increment concerning the jumping height in the flight phase, compared with the one where leaf springs are replaced with rigid materials.
资助项目	Natural Science Foundation of China[62003340]
WOS关键词	SERIES
WOS研究方向	Robotics
语种	英语
出版者	CAMBRIDGE UNIV PRESS
WOS记录号	WOS:001097983800001
资助机构	Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54415]
专题	多模态人工智能系统全国重点实验室
通讯作者	Jia, Lihao
作者单位	Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Wang, Boxing,Zhang, Kunting,Ma, Xueyan,et al. A compliant leg design combining pantograph structure with leaf springs[J]. ROBOTICA,2023:15.
APA	Wang, Boxing,Zhang, Kunting,Ma, Xueyan,&Jia, Lihao.(2023).A compliant leg design combining pantograph structure with leaf springs.ROBOTICA,15.
MLA	Wang, Boxing,et al."A compliant leg design combining pantograph structure with leaf springs".ROBOTICA (2023):15.