一种用于支持敏捷四足运动的新型可锁定弹簧加载平移脊柱
A Novel Lockable Spring-loaded Prismatic Spine to Support Agile Quadrupedal Locomotion
AI总结：
本文提出一种新型弹簧加载可锁定脊柱模块及SCIQ四足机器人平台，通过测试验证了该柔性脊柱在保持跳跃性能的同时，能有效吸收冲击并以猫伸展方式耗散能量以缓解着陆冲击。
摘要：
本文介绍了一种系统研究柔性平移脊柱在四足机器人运动中影响的方法。我们开发了一种新型弹簧加载可锁定脊柱模块，以及一个新的脊柱柔性集成四足机器人（SCIQ）平台，用于实证和数值研究。单独的脊柱测试揭示了有益的脊柱特性（如递减弹簧），并验证了所提出的紧凑脊柱锁定/解锁机制的有效性。使用我们的机器人进行的基准垂直跳跃和着陆测试表明，刚性脊柱与柔性脊柱具有可比的跳跃性能。柔性脊柱模块的一个显著优势是，它能够通过吸收冲击能量，并以类似猫伸展的方式让脚部滑动来耗散剩余能量，从而缓解更具挑战性的着陆条件。
英文摘要：
This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine module, together with a new Spinal Compliance-Integrated Quadruped (SCIQ) platform for both empirical and numerical research. Individual spine tests reveal beneficial spinal characteristics like a degressive spring, and validate the efficacy of a proposed compact locking/unlocking mechanism for the spine. Benchmark vertical jumping and landing tests with our robot show comparable jumping performance between the rigid and compliant spines. An observed advantage of the compliant spine module is that it can alleviate more challenging landing conditions by absorbing impact energy and dissipating the remainder via feet slipping through much in cat-like stretching fashion.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
