Legged walking robot

Multi-legged walking robot with pneumatic support for stance phase

This technology features a multi-legged walking robot equipped with multiple independently driven leg units. Pneumatic devices connected to the hip and knee joints of each leg unit assist the actuator torque required for ground support during the stance phase and disengage during the swing phase.

Multi-legged robots typically require high torque during the stance phase, which places excessive load on the actuators. This hinders rapid leg movement during high-speed locomotion and reduces overall energy efficiency.

This technology proposes a method to toggle the pneumatic assistance based on the stance and swing phases, allowing the actuators to drive the joints more efficiently. It can be applied to high-speed robots, rough-terrain exploration, and military robot platforms, significantly reducing the burden on actuators while improving both speed and energy efficiency.

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Key Features:

• Includes multiple independently driven leg units, with each leg unit featuring a hip joint driven by an actuator.
• Includes a femoral member connected at one end to the hip joint, which rotates in response to the hip joint's movement.
• A knee joint connected to the other end of the femoral member, and a lower leg member connected at one end to the knee joint.
• Pneumatic devices mounted on the hip and knee joints to provide support during the leg unit's stance phase.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for research into new hybrid actuators for high-speed robots.