摘要
脊柱能够提升脊椎动物运动的灵活性、稳定性和速度。目前4足机器人主要采用刚性躯干,在速度、稳定性和能量效率方面存在不足。而基于仿生学原理的柔性脊柱是4足机器人中1种新型的结构,能够为腿部提供附加驱动力,增大步幅,提高运动的稳定性和能量效率,对4足机器人的运动性能提升有着重要作用。介绍了柔性脊柱的仿生原理、相关发展和研究现状,从仿生学角度,对不同4足机器人柔性脊柱的结构和特点进行了分析,揭示了柔性脊柱的关键技术和未来研究的趋势,并对未来的研究进行了展望。
Spine can improve the flexibility,stability and speed of vertebrates. Currently,the body of quadruped robot is mainly developed with rigid structure,which is deficient in speed,stability and energy efficiency. And the flexible spine based on the principle of bionics is a new kind of structure in quadruped robot,which can provide additional driving force for legs,increase the stride,improve the stability of motion and energy efficiency,and it plays an important role in improving the motion performance of quadruped robots. The bionic principle,related development and research status of flexible spine are introduced,the structure and characteristics of the flexible spine of different quadruped robots are analyzed from the perspective of bionics,and the key technologies and future research trends of flexible spine are revealed,and the prospect of future research is put forward.
作者
刘宁
江沛
柏龙
林利红
廖家文
潘吉财
LIU Ning; JIANG Pei ; BAI Long; LIN Lihong; LIAO Jiawen; PAN Jicai(College of Mechanical Engineering, Chongqing University, Chongqing 40030, China ; State Grid Chongqing Economy Research Institute, Chongqing 401121, China; China National Machinery Industry Corporation Ltd, Deyang 618013, China)
出处
《机械设计与研究》
CSCD
北大核心
2018年第5期37-43,共7页
Machine Design And Research
基金
国家自然科学基金资助项目(51405046,51705050)
重庆市基础科学与前沿技术项目(cstc2016jcyjA0472)
中央高校基本科研业务费专项资助项目(106112016CDJXY110004)
