仿螳螂虾腿结构设计，让四足机器人跳得更高
A Deployable Bio-inspired Compliant Leg Design for Enhanced Leaping in Quadruped Robots
- 用3D打印弹性材料做可展开柔性腿，模仿生物肌腱储能
- 实验显示垂直跳跃高度提升17.1%，突破电机功率限制
- 适合需要越障能力的救援或巡检机器人场景
四足机器人在工业巡检和灾害搜救等场景中日益重要，但现有平台常因峰值电机功率不足，难以实现爆发式跳跃。本文提出一种仿生设计，模拟螳螂虾腿的能量存储机制，开发出可展开柔性腿（DCL），采用轻质3D打印弹性材料聚醚嵌段酰胺（PEBA）制成内部晶格结构，其功能类似生物肌腱，在机器人下蹲阶段储存弹性势能，并在起跳时快速释放以增强电机输出。通过有限元分析（FEA）与实验验证，该设计使垂直跳跃高度相对提升了17.1%，显著增强了机器人的越障能力。
原文摘要 · Abstract (English)
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to possess enhanced agility and obstacle-navigation skills. Nonetheless, the performance of current platforms is often constrained by insufficient peak motor power, limiting their ability to perform explosive jumps. To address this challenge, this paper proposes a bio-inspired method that emulates the energy-storage mechanism found in froghopper legs. We designed a Deployable Compliant Leg (DCL) utilizing a specialized 3D-printed elastic material, Polyether block amide (PEBA), featuring a lightweight internal lattice structure. This structure functions analogously to biological tendons, storing elastic energy during the robot's squatting phase and rapidly releasing it to augment motor output during the leap. The proposed mechanical design significantly enhances the robot's vertical jumping capability. Through finite element analysis (FEA) and experimental validation, we demonstrate a relative performance improvement of 17.1% in vertical jumping height.
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