A four-leaf clover shaped adjustable rigidity supple spine for a quadruped robot comprises elastic members, rigid members, tensioning ropes of pitching direction and tensioning ropes of deflecting direction. The elastic members and the rigid members which all are of four-leaf clover section shapes are arranged alternately, and reeving holes are arranged in the lobes of the four-leaf clover structures. The tensioning ropes are arranged along the spine, one end of each rope is fixed at the tail end of the spine, and the other end penetrates the reeving hole and extends to the front end of the spine. Chamfered edges for allowing extrusion generated by the effect of axial direction tensioning on the elastic members are arranged at the rigid members along the radial direction. By respectively changing tensioning degrees of the tensioning ropes of pitching direction and the tensioning ropes of deflecting direction, rigidity of the supple spine at pitching direction and deflecting orthogonal two-dimensional direction can be adjusted. By designing a rigid trunk of the conventional legged robot into the four-leaf clover shaped adjustable rigidity supple spine, dynamic motion performance of the robot can be improved.
Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot
2015-09-02
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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