Bionic Architecture Design and Robust RoughTerrain Locomotion for a HighPayload Quadrupedal Robot * In this work, an electrically actuated quadrupedal robot with bionic architecture, Pegasus, is reported. With investigating the anatomical skeleton of mediumsized dog, its movement mechanism, and dogxe2x80x99s joints, we conclude that the architecture design of quadrupedal robots can benefit from bionics research. There is an optimization for structural parameters, geometrical relationship, and motion range of each joint according to the findings in bionics. The bionic structure design is verified by analyzing mechanical performance and motion ability of the robot. The bionic architecture allows COG trajectory not to follow the terrain profile and COG fluctuations are significantly suppressed when going through rough terrains. In order to generate a stable COG trajectory with fewer pose fluctuations, the step sequence and four footholds in each step follow the typical biological gait pattern for dynamic walking over rough terrains while the robot can keep robust postures in efficient workspace for each leg. Moreover, Virtual Muscle model is realized for each legxe2x80x99s compliance control with two sets of virtual spring and damper, in order to absorb feet impacts on the ground.

Gait Analysis of the Mammal Quadruped Robot from the Perspective of Energy Efficiency Because of the variety of parameters which are closely coupled, the mechanism design and control implementation of the bionic quadruped robot with higher performance is difficult. In this open research field, the energy efficiency of the motion system has become an important design and optimization goal. In this manuscript, a feasible simulation system framework is constructed in the case where the mechanism configuration, the length of the leg and the whole weight has been determined. Based on the step coefficient and the height coefficient, the motion features and the energy consumption of the quadruped robot in the gait sagittal plane are analysed, and the relationship between motion energy efficiency and gait parameters including gait type, step size, step height, step frequency, standing height are discussed in detail. The simulation results show that the gait that consistent with high energy efficiency is similar to animals with similar size.