一种具有两自由度柔性脊柱的四足机器人设计

卢春雷; 刘思宇; 柯景崴; 郭朝; 王志瑞; 党睿娜

doi:10.12382/bgxb.2025.0258

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一种具有两自由度柔性脊柱的四足机器人设计

更新时间：2026-04-24

- 一种具有两自由度柔性脊柱的四足机器人设计
- Design of a Quadruped Robot with Two-Degree-of-Freedom Compliant Spine
- 兵工学报 2026年47卷第1期页码：250258
- 作者机构：
  
  武汉大学动力与机械学院，湖北武汉 430072
  中兵智能创新研究院有限公司，北京 100072
  群体协同与自主实验室，北京 100072
- 作者简介：
  
  *通信作者邮箱：guozhao@whu.edu.cn
- 基金信息：
  
  国家重点研发计划项目(2023YFE0202100);群体协同与自主实验室开放基金项目(QXZ23013101)
- DOI：10.12382/bgxb.2025.0258
  中图分类号： TP242
- 收稿：2025-04-08，
  
  网络首发：2026-02-11，
  
  纸质出版：2026-01-31
- 稿件说明：
移动端阅览
卢春雷, 刘思宇, 柯景崴, 等. 一种具有两自由度柔性脊柱的四足机器人设计[J]. 兵工学报, 2026,47(1):250258.

LU Chunlei, LIU Siyu, KE Jingwei, et al. Design of a Quadruped Robot with Two-Degree-of-Freedom Compliant Spine[J]. Acta Armamentarii, 2026, 47(1): 250258.
卢春雷, 刘思宇, 柯景崴, 等. 一种具有两自由度柔性脊柱的四足机器人设计[J]. 兵工学报, 2026,47(1):250258. DOI： 10.12382/bgxb.2025.0258.

LU Chunlei, LIU Siyu, KE Jingwei, et al. Design of a Quadruped Robot with Two-Degree-of-Freedom Compliant Spine[J]. Acta Armamentarii, 2026, 47(1): 250258. DOI： 10.12382/bgxb.2025.0258.

摘要

针对四足机器人运动灵活性不足的问题，基于生物脊柱特点设计一种具备两自由度连续型脊柱结构的四足仿生机器人，采用脊柱单元与限位机构融合设计，可保持脊柱45°水平/竖直双轴弯曲能力，通过脊柱-腿足协同提升机器人的运动性能。基于坐标变换与改进的德纳维特-哈滕伯格参数法（Modified Denavit-Hartenberg method

MDH）建立脊柱-腿足协同运动学模型，计算出脊柱可使前腿足端工作空间在水平与竖直方向分别扩展2.0倍和0. 91倍。整机测试实验表明：连续型脊柱机器人可实现双轴0°～30°弯曲运动，角度控制最大误差不超过3°；脊柱协同作用使前进转向半径缩减37%，可有效辅助四足机器人转向。Bound步态下的实验结果表明，腿足间最短距离为474. 7 mm，最远距离达861. 6 mm，是体长（586. 6 mm）的1. 47倍，验证了柔性仿生脊柱在扩展运动空间的优势。

Abstract

Due to the insufficient motion flexibility of quadruped robots

this paper designs a quadruped bionic robot with a two-degree-of-freedom continuous spine structure based on the characteristics of biological spines. By adopting the integrated design of spine units and limit mechanisms

the robot can maintain the bending ability of the spine at 45°in both the horizontal and vertical biaxial directions

and the motion performance of the robot is improved through the coordination of the spine and the legs. A coordinated kinematic model of the spine-leg is established based on coordinate transformation and the improved Modified Denavit-Hartenberg (MDH) method. It is calculated that the spine can expand the working space of the front leg foot by 2. 0 times in the horizontal direction and 0. 91 times in the vertical direction. The test experiments show that the continuous spine robot can achieve biaxial bending motion within the range of 0～30°

and the maximum error of angle control does not exceed 3°. The spine reduces the forward turning radius by 37%

which can effectively assist the quadruped robot in turning. In the Bound gait experiment

the shortest distance between the legs is 474. 7 mm

and the longest distance reaches 861. 6 mm

which is 1. 47 times the body length (586. 6 mm)

verifying the advantages of the bionic spine in expanding the motion space.

关键词

Keywords

references

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