Design and modeling of linearly-constrained compliant spines for human-scale locomotion on rocky surfaces

Abstract

We present a new spine solution for the locomotion of human-scale robots on steep, rocky surfaces, known as linearly-constrained spines. The spine stiffness is low in the normal direction but high with respect to lateral and bending loads. The solution differs from previous spine arrays used for small robots in having a much higher spine density and less spine scraping over asperities. We present theoretical and empirical results to demonstrate that this solution is capable of shear stresses of over 200kPa, enabling human-scale robots to apply forces parallel to steep rock surfaces for climbing, bracing, etc. The analysis includes the effects of spine geometry, stiffness, backlash and three-dimensional loading angle to predict the overall forces possible in three dimensions of both single and opposed configurations of spine arrays. Demonstrated applications include a gripper for a “smart staff” aimed at helping humanoid robots to negotiate steep terrain and a palm that provides over 700N in shear for the RoboSimian quadruped.