Bio-inspired Leg Design for a Heavy-Duty Hexapod Robot

作     者：Haoyuan Yi Zhenyu Xu Xueting Xin Liming Zhou Xin Luo Haoyuan Yi;Zhenyu Xu;Xueting Xin;Liming Zhou;Xin Luo

作者机构：State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China Research InstituteInner Mongolia First Machinery Group Co.LtdBaotou 014030China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2022年第19卷第4期

页      面：975-990页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：supported in part by the National Key R&D Program of China under Grant No.2019YFB1309502 in part by the project under Grant No.2019ZT08Z780. 

主　　题：Legged robot EMA Heavy-duty Bio-inspired 

摘      要：The leg structure is crucial to the legged robot s motion performance.With the size and load of the legged robot increasing,the difficulty of leg design increases sharply.Inspired by biomechanics,this paper proposes a leg design approach based on effective mechanical advantage(EMA)for developing the heavy-duty legged robot.The bio-inspired design approach can reduce the demand for joint actuation forces during walking by optimizing the ratio relationship between the joint driving force and ground contact force.A dimensionless EMA model of the leg for the heavy-duty legged robot is constructed in this paper.Leg dimensions and hinge point locations are optimized according to the EMA and energy-optimal criterion.Based on the optimal leg structure,an electrically driven tri-segmented leg prototype is developed.The leg s joint hinge points are located near the main support line,and the load-to-weight ratio is 15:1.The leg can realize a swing frequency of 0.63 Hz at the stride length of 0.8 m,and the maximum stride length can reach 1.5 m.