四足机器人刚柔耦合仿生脊柱研究进展

四足机器人的仿生脊柱对提高机器人非结构化环境的机动性和稳定性具有重要作用。系统分析了国内外四足机器人仿生脊柱的研究现状,将仿生脊柱分为局部柔顺脊柱和整体柔顺脊柱两类,对比分析不同四足机器人仿生脊柱的结构特点,提出未来发展趋势。四足机器人仿生脊柱从传统的整体刚性结构向刚柔耦合结构方向发展,具有类生物变刚度、可柔顺弯曲特性的新型仿生脊柱突破仿生驱动、神经元精细控制等关键技术,向高效能量转换的类生物系统方向发展。

Research progress of rigid-flexible coupling bionic spine of quadruped robot

The bionic spine of a quadruped robot plays an important role in improving the mobility and the stability of the robot in an unstructured environment. This paper reviews the research progress of the bionic spine of quadruped robots at home and abroad. The bionic spine is divided into two categories in the bionics:the local flexible spine and the overall flexible spine. The structural characteristics of different bionic spines of the quadruped robot are compared and the development trends are discussed. The bionic spine of quadruped robots is developed from the traditional rigid structure to the rigid-flexible coupling structure. The new bionic spine has a bio-variable stiffness with flexible bending, and some key technologies such as the bionic driving and the neuron fine control need to be developed. It is developed toward a biological system for high-efficiency energyconversion.