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Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis

Published online by Cambridge University Press:  06 October 2021

Shengjie Wang ,
Kun Wang ,
Chunsong Zhang Open the ORCID record for Chunsong Zhang [Opens in a new window]  and
Jian S Dai
Shengjie Wang
Affiliation:
MOE Key Laboratory of Mechanism Theory and Equipment Design, Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300345, China
Kun Wang
Affiliation:
Centre for Robotics Research, King’s College London, Strand, London WC2R 2LS, UK
Chunsong Zhang*
Affiliation:
MOE Key Laboratory of Mechanism Theory and Equipment Design, Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300345, China
Jian S Dai
Affiliation:
Centre for Robotics Research, King’s College London, Strand, London WC2R 2LS, UK
*
*Corresponding author. E-mail: cszhang@tju.edu.cn
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Abstract

A kinetostatic approach applied to the design of a backflip strategy for quadruped robots is proposed in this paper. Inspired by legged animals and taking the advantage of the leg workspace, this strategy provides an optimal design idea for the low-cost quadruped robots to achieve self-recovery after overturning. Through kinetostatic and energy analysis, a four-stepped backflip strategy based on the selected rotation axis with minimum energy is proposed, with a process of selection, lifting, rotating, and protection. The kinematic factors that affect the backflip are investigated, along with the relationship between the design parameters of the leg and trunk being analyzed. At the end of this paper, the strategy is validated by a simulation and experiments with a prototype called DRbot, demonstrating that the strategy endows the robot a strong self-recovery ability in various terrains.

Keywords

Self-recoveryQuadruped robotBackflipKinetostaticOverturn

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Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1713 - 1731
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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