Bioinspired sprawling robotic leg and a path-planning procedure

International Journal of Advanced Robotic Systems

IgnacioJuárez-Campos¹ 

关键词: Peaucellier–Lipkin;    reptilian leg;    sprawling robotic leg;    inverse kinematics;    path planning;   

DOI  :  10.1177/1729881418759888

学科分类：自动化工程

来源: InTech

【 摘 要 】

This article shows the characteristics of a sprawling robotic leg inspired by the limb postures of certain reptilian animals known as sprawling-legged creatures. The main part of the robotic limb is based on the eight-bar Peaucellier–Lipkin linkage, and its main attribute is the ability to trace a true straight line, due to the rotational motion of the input link. However, when the eight-bar linkage is modified, it is capable of tracing true circular concave or convex arcs, when two of its constitutive links have distinct and precise lengths. This gives rise to the concepts of concavity and convexity, related to a robotic leg based on the Peaucellier–Lipkin mechanism, such as the one described herein. Our bioinspired robotic leg can trace concave or convex curves, as well as straight lines, making it a reptile-like robotic limb that is very similar to the natural one. We also introduce the concept of rotation center tuning, which refers to the ability of the leg to adapt its posture to the center of rotation of the entire walking machine, resulting in an easy and suitable gait process. The theoretical information is illustrated through the simulation of an example that provides a path-planning procedure, focusing on the rotation center tuning process and a walking gait. The example also includes the design of an elliptical path projected onto the cylindrical workspace and followed by the reptilian foot.

【 授权许可】

CC BY