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Review

Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control

by
Xiang Li
1,†,
Zhe Suo
1,†,
Dan Liu
2,
Jianfeng Liu
1,
Wenqing Tian
3,
Jixin Wang
1,* and
Jianhua Wang
4,*
1
Key Laboratory of CNC Equipment Reliability, Ministry of Education, School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China
2
National Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology, Inner Mongolia First Machinery Group Co., Ltd., Baotou 014030, China
3
FAW Tooling Die Manufacturing Corporation, China FAW Group Co., Ltd., Changchun 130013, China
4
College of Automotive Engineering, Jilin University, Changchun 130022, China
*
Authors to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Biomimetics 2024, 9(10), 628; https://doi.org/10.3390/biomimetics9100628
Submission received: 31 July 2024 / Revised: 12 October 2024 / Accepted: 14 October 2024 / Published: 15 October 2024
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Abstract

Bionic multi-legged robots with flexible bodies embody human ingenuity in imitating, learning, and exploring the natural world. In contrast to rigid-body robots, these robots with flexible bodies exhibit superior locomotive capabilities. The flexible body of the robot not only boosts the moving speed and walking stability but also enhances adaptability across complex terrains. This article focuses on the innovative design of flexible bodies. Firstly, the structural designs, including artificial spines and single/multi-axis articulation mechanisms, are outlined systematically. Secondly, the enhancement of robotic motion by flexible bodies is reviewed, examining the impact that body degrees of freedom, stiffness, and coordinated control between the body and limbs have on robotic motion. Thirdly, existing robotic control methods, organized by control architectures, are comprehensively overviewed in this article. Finally, the application prospects of bionic multi-legged robots with flexible bodies are offered, and the challenges that may arise in their future development are listed. This article aims to serve as a reference for bionic robot research.
Keywords: bionic robots; multi-legged robots; flexible body; spine; CPG; bionic control; locomotion bionic robots; multi-legged robots; flexible body; spine; CPG; bionic control; locomotion

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MDPI and ACS Style

Li, X.; Suo, Z.; Liu, D.; Liu, J.; Tian, W.; Wang, J.; Wang, J. Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control. Biomimetics 2024, 9, 628. https://doi.org/10.3390/biomimetics9100628

AMA Style

Li X, Suo Z, Liu D, Liu J, Tian W, Wang J, Wang J. Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control. Biomimetics. 2024; 9(10):628. https://doi.org/10.3390/biomimetics9100628

Chicago/Turabian Style

Li, Xiang, Zhe Suo, Dan Liu, Jianfeng Liu, Wenqing Tian, Jixin Wang, and Jianhua Wang. 2024. "Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control" Biomimetics 9, no. 10: 628. https://doi.org/10.3390/biomimetics9100628

APA Style

Li, X., Suo, Z., Liu, D., Liu, J., Tian, W., Wang, J., & Wang, J. (2024). Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control. Biomimetics, 9(10), 628. https://doi.org/10.3390/biomimetics9100628

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