On the utility of leg distal compliance for buffering landing impact of legged robots

摘要

Many legged robots have compliant mechanisms in the distal segments of their legs called distal compliance. One important function of such characteristic is to buffer landing impact at touchdown. However, there is still no general design strategy for it. In particular, nonlinear compliance behaviors are supposed to be more beneficial than linear ones, yet it is open what type of nonlinearity is a good fit. From this perspective, we used a simple spring–mass model performing free drop to investigate the design principles of distal compliance. The model includes damping and preload in spring and realistic limitations on spring compression, therefore gives a straightforward correspondence with actual hardware systems. We confirmed the benefits of using distal compliance over purely stiff structures, in terms of landing impact buffering. By assessing the relative influences of a variety of compliance configurations through numerical simulations, we found that for compliance behaviors of the same average stiffness, nonlinearities had little effect on the impact magnitude (<1 N), but stiffening compliance behaviors were able to provide better buffering performance by extending the impact time. It was also noticed that stiffening compliance behaviors were inevitably accompanied by a larger amplitude of spring compression, indicating that necessary trade-off has to be made for those systems concerning torso stationarity. The experimental data with our hexapod robotic platform agreed well with the results found with the proposed model, confirming that the spring–mass model could be a template to provide a useful guide for the design of distal compliance in legged robots.