A Novel Lockable Spring-Loaded Prismatic Spine to Support Agile Quadrupedal Locomotion
A Novel Lockable Spring-Loaded Prismatic Spine to Support Agile Quadrupedal Locomotion
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DOI：
10.1109/iros55552.2023.10341427
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发表时间：
2023-08
期刊：
影响因子：
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通讯作者：
Keran Ye;Kenneth Chung;Konstantinos Karydis
中科院分区：
文献类型：
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作者：
Keran Ye;Kenneth Chung;Konstantinos Karydis
本文介绍了一种系统研究柔顺棱柱在四足机器人运动中作用的方法。我们开发了一种新的弹簧加载可锁定脊椎模块，以及一种新的脊柱柔顺集成四足动物(SCIQ)平台，用于实验和数值研究。单独的脊柱测试显示了有益的脊柱特征，如递减弹簧，并验证了拟议的紧凑型脊柱锁定/解锁机构的有效性。我们的机器人进行的基准垂直跳跃和着陆测试显示，刚性脊椎和柔韧脊椎之间的跳跃性能相当。观察到的顺应性脊椎模块的一个优势是，它可以吸收冲击能量，并通过像猫一样伸展的脚滑过许多地方来消散剩余的冲击能量，从而缓解更具挑战性的着陆条件。
This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine module, together with a new Spinal Compliance-Integrated Quadruped (SCIQ) platform for both empirical and numerical research. Individual spine tests reveal beneficial spinal characteristics like a degressive spring, and validate the efficacy of a proposed compact locking/unlocking mechanism for the spine. Benchmark vertical jumping and landing tests with our robot show comparable jumping performance between the rigid and compliant spines. An observed advantage of the compliant spine module is that it can alleviate more challenging landing conditions by absorbing impact energy and dissipating the remainder via feet slipping through much in cat-like stretching fashion.