四足步行机器人中一种新型腿结构缓冲特性

四足步行机器人在高速步行时，地面对其产生了很大的冲击，引入弹性步行机构是减少冲击的关键．将一种新型弹性步行机构应用于四足步行机器人中，分析其工作原理，并研究其控制电路．进而以Ｐａｃｉｎｇ步态为例，对弹性步行机构的缓冲和储能功能进行了理论探讨和实验分析，并在对刚性腿和弹性腿对比研究的基础上，指出将弹性步行机构应用于四足步行机器人具有独特的优越性．

Buffering of New Walking Mechanism in Quadruped Walking Robot

The elastic mechanism applied to robot is one of the ways to reduce the ground impact. NEW Elastic Walking Mechanism (NEWM) Spring connecting rod mechanism applied on quadruped walking robot was introduced. The work principle of the quadruped walking robot with NEWM was analyzed and the control systems were developed. The buffering and saving energy of NEWM was analyzed. By contrast of the quadruped walking robot with rigid leg, the dynamics characteristics of the quadruped walking robot with NEWM in pacing gait were discussed in the theory, and the maximum angular accelerations of the legs when the robot contacted the ground were measured. The studies prove that NEWM is effective for the robot walking.