Design and optimization of an elastic linkage quadruped robot based on workspace and tracking error

摘要

High acceleration and extreme load are frequently appeared on high-speed locomotion of legged robot's legs, imposing a challenging trade-off between weight and torque in leg design. This paper proposes a new design paradigm based on cable-drive and elastic linkage to solve the problem. The details of the design procedure are given, including the construction of the single leg. With the optimum design of the linkage mechanism, a combined index of the workspace and tracking error are used as object function, and taking geometrical design parameters of the linkage as optimization parameters. Based on the target workspace and the spring-loaded inverted pendulum model, the best foot trajectory in obstacle climbing and trotting gait are analyzed and illustrated. This paper built linkage cable-drive spring robot based on the legged module integration. Simulations and experiments indicate that linkage cable-drive spring robot performs stable trotting with control of the spring-loaded inverted pendulum model. Linkage cable-drive spring robot prototype experiments results are provided to verify the validity of the new method.