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Keywords = two-DOF leg structure design

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27 pages, 10348 KB  
Article
Design of a Bionic Spider Robot with a Two-Degrees-of-Freedom Leg Structure and Body Frame
by Yangwen Nie, Daikun Zhu, Yahui Chen, Xing Hu and Liangliang Wang
Appl. Sci. 2024, 14(21), 9809; https://doi.org/10.3390/app14219809 - 27 Oct 2024
Cited by 1 | Viewed by 3475
Abstract
Spiders have unique biological characteristics and excellent maneuverability, making them an ideal model for bionic robot design. However, traditional bionic spider robot designs usually have multiple degrees of freedom and confront many challenges. These challenges include complex control requirements, higher energy consumption, larger [...] Read more.
Spiders have unique biological characteristics and excellent maneuverability, making them an ideal model for bionic robot design. However, traditional bionic spider robot designs usually have multiple degrees of freedom and confront many challenges. These challenges include complex control requirements, higher energy consumption, larger size and weight, higher risk of failure, and higher cost. This study proposes a leg design with two degrees of freedom to reduce its control and manufacturing costs. It can better control leg movement and improve leg force through a multi-link mechanism and a dual-motor system. In addition, the triangular gait and hexagonal body structure align the weight of the body with the support point, thereby enhancing stability. This study offers a comprehensive and organized approach to bio-inspired robot design, providing a valuable reference for future bionic robot development. Full article
(This article belongs to the Special Issue Control and Application for Biorobotics)
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14 pages, 2548 KB  
Article
Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure
by Chin Ean Yeoh and Hak Yi
Appl. Sci. 2021, 11(4), 1379; https://doi.org/10.3390/app11041379 - 3 Feb 2021
Cited by 6 | Viewed by 3280
Abstract
This study presents a new combinable multi-legged modular robot that mimics the structures of ants to expand the physical capabilities of the legged robot. To do this, the robot design is focused on exploring a fusion of two robotic platforms, modular and multi-legged, [...] Read more.
This study presents a new combinable multi-legged modular robot that mimics the structures of ants to expand the physical capabilities of the legged robot. To do this, the robot design is focused on exploring a fusion of two robotic platforms, modular and multi-legged, in which both the body frame and the legged structure are designed to be a rectangular prism and a 3-DoF sprawling-type articulated leg structure, respectively. By imitating ants’ claws, the hook-link structure of the robot as the coupling mechanism is proposed. This study includes the platform’s development, and the experimental work on the locomotion in both single and combined modes is carried out. The result of this study proves that mimicking ants’ structure in the proposed robots successfully enhances the capability of the conventional legged robot. It is feasible to use in a multi-robot system to realize ants’ super-organized behavior. Full article
(This article belongs to the Special Issue Bio-Inspired Robot and Multirobot Systems)
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