Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg

作     者：Yuze Xu Zirong Luo Xiangjuan Bai Huixiang Xie Yiming Zhu Shanjun Chen Jianzhong Shang Yuze Xu;Zirong Luo;Xiangjuan Bai;Huixiang Xie;Yiming Zhu;Shanjun Chen;Jianzhong Shang

作者机构：College of Intelligence Science and TechnologyNational University of Defense TechnologyChangsha410073China PLA Rocket Force University of EngineeringXi’an710025China 

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

年 卷 期：2023年第20卷第6期

页      面：2570-2589页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：This work was supported by the National Natural Science Foundation of China(NO.52175069). 

主　　题：Human leg Robotic leg Omnidirectional legged locomotion Spatial dual-parallelogram-linkages Spatial closed-loop four-bar 

摘      要：Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.