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Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control

Authors :
Xiang Li
Zhe Suo
Dan Liu
Jianfeng Liu
Wenqing Tian
Jixin Wang
Jianhua Wang
Source :
Biomimetics, Vol 9, Iss 10, p 628 (2024)
Publication Year :
2024
Publisher :
MDPI AG, 2024.

Abstract

Bionic multi-legged robots with flexible bodies embody human ingenuity in imitating, learning, and exploring the natural world. In contrast to rigid-body robots, these robots with flexible bodies exhibit superior locomotive capabilities. The flexible body of the robot not only boosts the moving speed and walking stability but also enhances adaptability across complex terrains. This article focuses on the innovative design of flexible bodies. Firstly, the structural designs, including artificial spines and single/multi-axis articulation mechanisms, are outlined systematically. Secondly, the enhancement of robotic motion by flexible bodies is reviewed, examining the impact that body degrees of freedom, stiffness, and coordinated control between the body and limbs have on robotic motion. Thirdly, existing robotic control methods, organized by control architectures, are comprehensively overviewed in this article. Finally, the application prospects of bionic multi-legged robots with flexible bodies are offered, and the challenges that may arise in their future development are listed. This article aims to serve as a reference for bionic robot research.

Details

Language :
English
ISSN :
23137673
Volume :
9
Issue :
10
Database :
Directory of Open Access Journals
Journal :
Biomimetics
Publication Type :
Academic Journal
Accession number :
edsdoj.6f95f830555e4664b4545524bb40c49f
Document Type :
article
Full Text :
https://doi.org/10.3390/biomimetics9100628