Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg

Xu, Yuze; Luo, Zirong; Bai, Xiangjuan; Xie, Hongwei; Zhu, Yiming; Chen, Shanjun; Shang, Jianzhong

doi:10.1007/s42235-023-00412-3

Cited by 1 publication

(2 citation statements)

References 34 publications

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“…The study of biological leg and foot structures has great significance in the field of biomimetics, since such structures can be mimicked in a wide range of robotic applications. The structure and movement of both human and animal legs have been investigated in previous work [ 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 ]. Supernumerary robotic legs for human support [ 18 ] and locomotion [ 19 ] have been successfully demonstrated.…”

Section: Introductionmentioning

confidence: 99%

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Analysis of Structure and Function of Ladybird Leg and Subsequent Design and Fabrication of a Simplified Leg Structure for Robotic Applications

Mercer,

Hosoda

2024

Biomimetics

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Many insects are able to walk vertically or upside down on both hard and soft surfaces. In beetles such as the ladybird (Coccinella septempunctata), intermolecular forces between tarsal setae on the footpads of the insects make this movement possible. In prior work, adhesion structures made from polydimethylsiloxane (PDMS) that mimic the action of the tarsal setae have been developed. It is proposed that these adhesion structures could be attached to a simplified version of the leg of a ladybird and used in practical applications. For example, the leg structures could potentially be employed in small surveillance drones to enable attachment to surfaces during flights, in order to preserve battery power. Alternatively, the structures could be used in small robotic devices to enable walking on steeply inclined surfaces. In this program of work, the morphology and movement of the leg of a ladybird were closely studied using a 3D X-ray microscope and a high-speed microscope. The positions of the tendons that facilitated movement were identified. From this knowledge, a simplified leg structure using pin-joints was designed and then fabricated using 3-D printing. The PDMS adhesion structures were then attached to the leg structure. The tendons in the actual insect leg were replicated using thread. Typical detachment forces of about 4 N indicated that the simplified leg structure was, in principle, more than capable of supporting the weight of a small device and then detach successfully. Attachment/detachment movement operations were performed using a linear actuator and controlled remotely. Therefore, proof of concept has been demonstrated for the use of such a simplified ladybird leg structure for the attachment/detachment of small robotic devices to horizontal, inclined, or vertical surfaces.

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Section: Introductionmentioning

confidence: 99%

“…Rezazadeh et al [ 20 ] propose a constructive framework for both bio-inspired and mechanically optimized robotic legs. Xu et al [ 21 ] achieved omni-directional locomotion of a robotic leg. In a similar study, Park et al [ 22 ] constructed a robotic leg based on the domestic cat.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Structure and Function of Ladybird Leg and Subsequent Design and Fabrication of a Simplified Leg Structure for Robotic Applications

Mercer,

Hosoda

2024

Biomimetics

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show abstract

Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg

Cited by 1 publication

References 34 publications

Analysis of Structure and Function of Ladybird Leg and Subsequent Design and Fabrication of a Simplified Leg Structure for Robotic Applications

Analysis of Structure and Function of Ladybird Leg and Subsequent Design and Fabrication of a Simplified Leg Structure for Robotic Applications

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