一种基于柔性腿部与主动腰部的仿猫四足机器人设计方法

目前大多数四足机器人以刚性腿部结构设计而成，部分机器人加入了单一自由度的腰部实现单方向的运动，但是总的来说都难以实现动物腿部肌肉、腰、脊椎关节的柔性运动。在四足动物中，猫拥有极强的运动灵活性。为更好地模拟猫的运动特性，参照猫的腿部骨骼结构和柔性组织，提出了一种具有柔性腿部和主动腰部的仿猫四足机器人设计方法。首先，从仿生学的角度研究猫的生理结构和运动方式，设计了包含弹簧-阻尼器系统四杆机构的柔性腿部，转动灵活且工作稳定的主动腰部和带有脊柱固定系统的前后躯干。同时，使用有限元分析工具对受力情况复杂的关键零件进行强度与刚度优化。之后，开发了运用新设计的仿猫四足机器人原型机，通过运动仿真软件配合原型机，进行了Trot步态行走、跳跃、落地缓冲和越障等实验。实验结果表明，相较传统的刚性腿部结构和单自由度腰部，应用该设计方法的四足机器人在运动性能方面有着显著优势，充分验证了其可行性与有效性。研究结果为四足机器人的设计提供了一种新的解决方案并给出了其理论依据和参考设计实例。

A cat-like quadruped robot design method based on flexible legs and active waist

Most current quadruped robots are designed with a rigid leg structure, and some incorporate a single degree of freedom to achieve unidirectional movement at the waist, but in general it is difficult to achieve flexible movement of the animal''s leg muscles, waist, and spinal joints. Among quadrupeds, cats possess great motor flexibility. In order to better simulate the locomotor characteristics of cats, a cat-like quadruped robot design method with flexible legs and active waist is proposed with reference to the leg skeletal structure and flexible organization of cats. Firstly, the physiological structure and motion of the cat were studied from the perspective of bionics, and a flexible leg with a spring-damper system, a flexible and stable active waist, and an anterior and posterior torso with a spinal fixation system were designed. At the same time, the strength and stiffness of the key components with complex stresses were optimized using finite element analysis tools. After that, a prototype cat-like quadruped robot with the new design was developed, and experiments such as Trot gait walking, jumping, landing buffer and obstacle crossing were conducted by motion simulation software with the prototype. The experimental results show that compared with the traditional rigid leg structure and single-degree-of-freedom waist, the quadruped robot applying the design method has significant advantages in terms of motion performance, which fully verifies its feasibility and effectiveness. The research results provide a new solution for the design of quadruped robots and give its theoretical basis and reference design examples.