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Research on the biomimetic quadruped jumping robot based on an efficient energy storage structure

Published online by Cambridge University Press:  12 September 2024

Tianyu Zhang ,
Jieliang Zhao Open the ORCID record for Jieliang Zhao [Opens in a new window] ,
Chenyang Zhang ,
Qun Niu  and
Shaoze Yan
Tianyu Zhang
Affiliation:
School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
Jieliang Zhao*
Affiliation:
School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
Chenyang Zhang
Affiliation:
School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
Qun Niu
Affiliation:
School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
Shaoze Yan
Affiliation:
Division of Intelligent and Biomechanical Systems, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China
*
Corresponding author: Jieliang Zhao; Email: [email protected]
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Abstract

The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot’s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs’ torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.

Keywords

legged robotrobot dynamicsmodel predictive controlenergy storagequadruped robot
Type
Research Article
Information
Robotica , Volume 42 , Issue 8 , August 2024 , pp. 2548 - 2565
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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