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Keywords = spider leg mechanism

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27 pages, 10348 KiB  
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 3390
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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21 pages, 3865 KiB  
Article
Omnidirectional Jump of a Legged Robot Based on the Behavior Mechanism of a Jumping Spider
by Yaguang Zhu, Long Chen, Qiong Liu, Rui Qin and Bo Jin
Appl. Sci. 2018, 8(1), 51; https://doi.org/10.3390/app8010051 - 1 Jan 2018
Cited by 17 | Viewed by 11057
Abstract
To find a common approach for the development of an efficient system that is able to achieve an omnidirectional jump, a jumping kinematic of a legged robot is proposed based on the behavior mechanism of a jumping spider. To satisfy the diversity of [...] Read more.
To find a common approach for the development of an efficient system that is able to achieve an omnidirectional jump, a jumping kinematic of a legged robot is proposed based on the behavior mechanism of a jumping spider. To satisfy the diversity of motion forms in robot jumping, a kind of 4 degrees of freedom (4DoFs) mechanical leg is designed. Taking the change of joint angle as inspiration by observing the behavior of the jumping spider during the acceleration phase, a redundant constraint to solve the kinematic is obtained. A series of experiments on three types of jumping—vertical jumping, sideways jumping and forward jumping—is carried out, while the initial attitude and path planning of the robot is studied. The proposed jumping kinematic is verified on the legged robot experimental platform, and the added redundant constraint could be verified as being reasonable. The results indicate that the jumping robot could maintain stability and complete the planned task of jumping, and the proposed spider-inspired jumping strategy could easily achieve an omnidirectional jump, thus enabling the robot to avoid obstacles. Full article
(This article belongs to the Special Issue Bio-Inspired Robotics)
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15 pages, 3981 KiB  
Review
Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators
by Stefan Landkammer, Florian Winter, Daniel Schneider and Rüdiger Hornfeck
Robotics 2016, 5(3), 15; https://doi.org/10.3390/robotics5030015 - 15 Jul 2016
Cited by 23 | Viewed by 29359
Abstract
Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines [...] Read more.
Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines lightweight design and graceful movements with powerful and dynamic actuation. Building on this motivation, the review article focuses on compliant robotic joints inspired by the function principle of the spider leg. The mechanism is introduced by an overview of existing biological and biomechanical research. Thereupon a classification of robots that are bio-inspired by spider joints is presented. Based on this, the biomimetic robot applications referring to the spider principle are identified and discussed. Full article
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