仿袋鼠设计高功率腿与可动软尾机器人，实现跳跃与平衡。
Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail
- 基于袋鼠肌骨结构设计高功率跳腿与可动软尾。
- 电机置于躯干降低重量，实现跳跃与尾部支撑。
- 适合仿生机器人、运动控制研究者参考。
本文聚焦袋鼠的强健腿部与柔软有力的尾巴，提出一种兼顾机器人可行性与袋鼠形态特征的设计方法。基于袋鼠肌骨结构，通过肌肉分布分析与仿真验证，确定了能够实现跳跃的机器人结构。为实现兼具柔韧与高功率输出的尾部，采用可动弹性结构。机器人采用直驱高功率缆线缠绕机构驱动，腿部与尾部电机集中于躯干以减轻重量。所开发的袋鼠机器人能通过后腿跳跃，并在跳跃中摆动尾部，利用后腿与尾部共同支撑身体。
原文摘要 · Abstract (English)
In this paper, we focus on the kangaroo, which has powerful legs capable of jumping and a soft and strong tail. To incorporate these unique structure into a robot for utilization, we propose a design method that takes into account both the feasibility as a robot and the kangaroo-mimetic structure. Based on the kangaroo's musculoskeletal structure, we determine the structure of the robot that enables it to jump by analyzing the muscle arrangement and prior verification in simulation. Also, to realize a tail capable of body support, we use an articulated, elastic structure as a tail. In order to achieve both softness and high power output, the robot is driven by a direct-drive, high-power wire-winding mechanism, and weight of legs and the tail is reduced by placing motors in the torso. The developed kangaroo robot can jump with its hind legs, moving its tail, and supporting its body using its hind legs and tail.
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