文章基本信息

标题：Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators
本地全文：下载
作者：Stefan Landkammer ; Florian Winter ; Daniel Schneider 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2016
卷号：5
期号：3
页码：15-29
DOI：10.3390/robotics5030015
出版社：MDPI Publishing
摘要：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.
关键词：actuator; biomimetic; pneumatic; spider leg mechanism; robotic application; fluidic actuator ; biomimetic ; pneumatic ; spider leg mechanism ; robotic application ; fluidic