Modeling and Analysis of Flexible Foot Vibration of MultiFoot Bionic Robot In order to solve the problems of large impact force and poor adaptability to complex surface of foot robot in motion, a flexible foot end with two degrees of freedom is proposed and designed. However, the structural characteristics of the foot end and the flexibility of the material lead to a phenomenon in the movement of the robot with this foot end.In order to solve this vibration phenomenon, a twodegreeoffreedom mathematical model of foot vibration is established by analyzing the foot structure and material characteristics. The vibration characteristics of the foot end are analyzed by simulation experiments, and the vibration characteristics of the foot end of different structures are compared. It is verified that the vibration characteristics of the model established in this paper are consistent with the vibration characteristics of the foot end measured by the actual robot experimental platform, which provides an accurate model basis for the next step to achieve vibration suppression through various control methods and motion strategies.

Research on 2DOF Antagonistic Bionic Flexible Manipulator * A flexible actuator with variable stiffness was improved in this study, and a 2DOF flexible manipulator was designed based on the principle of antagonistic motion. To solve the problem of joint redundancy drive, we focused on the position control, stiffness control and positionstiffness decoupling control strategy of antagonistic bionic manipulator. Based on the Lagrange equation, the joint dynamics model was established, and the control model of the joint position and stiffness of the antagonistic bionic joint was proposed. The traditional PID control theory was used to simulate and verify the effectiveness of the above control strategy. Experiments were carried out on the manipulator to verify the rationality of the structure and control model of the manipulator. The experimental results show that the manipulator can achieve more accurate displacement operation under various stiffness conditions according to the control strategy proposed in this paper, and flexible joints can effectively adjust the stiffness and position of the joints when subjected to external loads. The impact can be weakened when collision occurs.