Next Article in Journal
Assessment of DSMs Using Backpack-Mounted Systems and Drone Techniques to Characterise Ancient Underground Cellars in the Duero Basin (Spain)
Previous Article in Journal
Dilated Skip Convolution for Facial Landmark Detection
Previous Article in Special Issue
Finite-Time Disturbance Observer for Robotic Manipulators
Open AccessReview

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

1
School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
2
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(24), 5351; https://doi.org/10.3390/s19245351
Received: 11 October 2019 / Revised: 27 November 2019 / Accepted: 2 December 2019 / Published: 4 December 2019
(This article belongs to the Special Issue Robotics, Sensors and Industry 4.0 )
Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances during locomotion. This article presents a review of the exploitation of physical compliance in robotic legs. Particular attention has been paid to the segmented, electrically actuated robotic legs, such that a comparable analysis can be provided. The utilization of physical compliance is divided into three main categories, depending on the setting locations and configurations, namely, (1) joint series compliance, (2) joint parallel compliance, and (3) leg distal compliance. With an overview of the representative work related to each category, the corresponding working principles and implementation processes of various physical compliances are explained. After that, we analyze in detail some of the structural characteristics and performance influences of the existing designs, including the realization method, compliance profile, damping design, and quantitative changes in terms of mechanics and energetics. In parallel, the design challenges and possible future works associated with physical compliance in robotic legs are also identified and proposed. This article is expected to provide useful paradigmatic implementations and design guidance for physical compliance for researchers in the construction of novel physically compliant robotic legs. View Full-Text
Keywords: physical compliance; robotic legs; electrically actuated; series compliance; parallel compliance physical compliance; robotic legs; electrically actuated; series compliance; parallel compliance
Show Figures

Graphical abstract

MDPI and ACS Style

Chen, J.; Liang, Z.; Zhu, Y.; Liu, C.; Zhang, L.; Hao, L.; Zhao, J. Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms. Sensors 2019, 19, 5351.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop