Squatting and Standing Motion of a Novel Bio-Inspired Single Robot Leg

The article introduces a novel bio-inspired compliant robot leg configuration and its motion controller. The paper is primarily divided into two parts for description. Firstly, the overall leg configuration design is presented, wherein a bio-inspired compliant robot leg driven by a brushless DC motor is constructed and analyzed by simulating the joint and tendon coordination of quadrupedal animals. Secondly, while many high-degree-of-freedom robots employ complex designs and intelligent controllers to mimic human motion, they may incur high costs and inefficiencies. This paper demonstrates the implementation of a simple analytical geometric controller on the robot leg, respectively, and selects squatting and standing motions as a preliminary study of bipedal locomotion. Additionally, the application of bio-inspired compliance principles in the mechanism design further enhances its practicality and adaptability.