Design and analysis of a bionic quadruped robot

Abstract

In this article, design of bionic quadruped, mainly focusing on leg design, is given and force analysis of the mechanism is calculated and simulated. To better improve the design, force on sole and torque on joints should be diminished to increase the mobility and capacity of the robot. Therefore, a design method based on biomechanics and bionic control strategy is proposed for this quadruped robotic system considering compliance. This design method, including mainly mechanical compliance element and control compliance element, can decrease the contact force and torque of both hip and knee joints. This first prototype of leg design is aimed to achieve a general concept about optimizing force and torque of robot leg and prepares for further experiments on complex terrain condition.