Quadruped Robot Calf Joint Actuator Molding and Design Based on Dynamic Similarity Hypothesis

The calf joint actuator of a quadruped robot plays a crucial role in determining its speed, stability, and so on. The traditional methods are no longer suitable to design calf joint actuators due to its working in multi-operating modes. It is a significant challenge to design an appropriate calf joint actuator. To address this issue, a new method is introduced, which inspire by dynamic similarity hypothesis. The factors, such as leg length and body mass, affect calf joint features, which is analyzed in this paper. A model is developed to establish the relationships among progression speed, joint torque and speed requirements. This model contains only a few unknown coefficients, which are determined by substituting calf joint experimental data. Finally, the proposed procedure for designing the calf joint actuator is validated through simulation and experimental testing.