Design and Experimental Study of Special Elastic Leg Joint for Quadruped Robots

作     者：Zisen Hua Chi Chen Xuewen Rong Yibin Li Zisen Hua;Chi Chen;Xuewen Rong;Yibin Li

作者机构：School of Artificial IntelligenceAnhui University of Science&TechnologyTaifeng RoadHuainan232001Anhui ProvinceChina School of Control Science and EngineeringShandong UniversityJingshi RoadJinan17951Shandong ProvinceChina 

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

年 卷 期：2025年第22卷第2期

页      面：642-653页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the National Natural Science Foundation for general program of China(Grant No.62373217) 

主　　题：Quadruped robot Passive compliance Leg joint Motion energy efficiency 

摘      要：In this paper,a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy *** innovative structure cleverly incorporates micro-plate springs,offering significant stiffness adjustment *** meet the stiffness requirements,the relationships between foot-ground contact force and the deformation force of the elastic component,as well as the influence of elastic component deformation and foot cushioning amplitude are comprehensively *** the aid of finite element optimization analysis,a single-leg experimental platform is designed,and the effectiveness and applicability of the novel structure are validated through experiments including unloaded free swinging,freely falling body motion and ground squats *** experiments results show the evident superiorities of the passive compliance joint.