In context
In 2023, legged robots faced challenges in adaptability and control complexity due to rigid structures and pre-programmed algorithms. This research explored tensegrity structures to mimic human leg biomechanics, aiming for lightweight, compliant, and energy-efficient designs.
What was reported
Researchers from Changchun University of Technology, Jilin University, and Dalian University of Technology presented a bionic legged robot based on a Snelson X-shaped tensegrity structure. They modeled the human leg's musculoskeletal system, simplifying it into rigid links and elastic elements to replicate movement and stability.
The design incorporates a planar four-bar mechanism to lock the knee joint at a dead point during standing, while a crank-slider and displacement amplification mechanism enable unlocking for walking. This achieves a rigid-flexible conversion of the knee joint, mimicking human gait.
Structural stability and kinematics analyses were conducted, providing a stiffness matching method for the elastic components. A physical prototype driven by a single motor was tested, validating the effectiveness and practicality of the proposed design.
Why it mattered
This work demonstrated that tensegrity structures can simplify control systems in legged robots while enhancing adaptability and self-recovery, offering a promising alternative to traditional rigid designs for applications in challenging environments.
“The robot not only possesses motion trends similar to the human leg, but also simplifies the control system by leveraging the self-adaptive and self-recovery characteristics of the tensegrity structure.”
Source: 《机器人》期刊 (robot.sia.cn) · Published 2023-05-09 · “基于张拉整体结构的仿生腿式机器人设计”