四足机器人仿生关节的研究现状综述

兼具高速度、高机动和高适应性已成为四足机器人发展的必然趋势,仿生关节作为重要的基础运动部件,对四足机器人的运动学和动力学研究具有重要的作用。从气动柔性的仿生关节、液压减震的仿生关节、串联弹性驱动器的仿生关节和变刚度柔性的仿生关节4方面出发,对四足机器人关节仿生的研究现状进行了全面综述,并准确分析各种类型的仿生关节缺陷,最后对四足机器人仿生关节的未来发展趋势进行概述。随着研究的深入,四足机器人的仿生关节必然会在生产服务、科学探索、未来战争等多个领域中发挥广泛的应用。

Summarization of the Research Status of Quadruped Robot Bionic Joint

High speed,high mobility and high adaptability become the inevitable developing trend of quadruped robot,bionic joints as an important basis of moving parts,plays an important role about the kinematics and dynamics research of quadruped robot.Specific from four aspects of flexible pneumatic bionic joints,hydraulic damping bionic joints,series-wound elastic drive bionic joints and flexible variable stiffness bionic joints,the research status of quadruped robot bionic joints is summarized,and the various types of bionic joint defects are accurately analyzed.Finally,the future develop trend of quadruped bionic robot joints is described.With the deepening of the research,the quadruped robot bionic joint will have widely application prospect in production services,human exploration,future war and other special fields inevitably.