Walking locomotion of a cable-driven soft-legged robot

被引：1
|
作者：
Tang, Bin [1 ]
Chen, Tao [1 ]
Zhang, Ping [1 ,2 ]
Li, Shuaiqi [1 ]
机构：
[1] Dalian Univ Technol, Sch Energy & Power Engn, Key Lab Ocean Energy Utilizat & Energy Conservat, Minist Educ, Dalian, Liaoning, Peoples R China
[2] Dalian Univ Technol, Sch Energy & Power Engn, Key Lab Ocean Energy Utilizat & Energy Conservat, Minist Educ, 2 linggong Rd, Dalian 116024, Liaoning, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2023年 / 237卷 / 09期
基金：
中国国家自然科学基金;
关键词：
Soft-legged robot; cable-driven; walking robot; DESIGN;
D O I：
10.1177/09544062221135889
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A soft quadruped robot that can perform linear locomotion and turning patterns is proposed. The silicone rubber legs were cable-actuated and powered by motors. First, the bending behavior of the soft legs under quasi-static conditions was studied, and then mathematical models for linear and turning motions were established based on gait analysis. The soft-legged robot can decouple linear and turning motions. Furthermore, slope walking and payload were experimentally tested. The results showed that the robot can conduct linear locomotion at a speed of 19.8 mm/s and turn with an angular velocity of 4.4 degrees/s. In addition, it had a payload of up to 300 g, and performed well on a smooth surface with a 17 degrees slope.
引用
收藏
页码：2163 / 2170
页数：8
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