Design of an Underactuated Legged Robot With Prismatic Legs for Passive Adaptability to Terrain

Abstract

Legged robots have the advantage of being able to maneuver unstructured terrains unlike their wheeled counterparts. However, many legged robots require multiple sensors and online computations to specify the gait, trajectory or contact forces in real-time for a given terrain, and these methods can break down when sensory information is unreliable or not available. Over the years, underactuated mechanisms have demonstrated great success in object grasping and manipulation tasks due to their ability to passively adapt to the geometry of the objects without sensors. In this paper, we present an application of underactuation in the design of a legged robot with prismatic legs that maneuvers unstructured terrains under open-loop control without any sensing. Through experimental results, we show that prismatic legs can support a statically stable stance and can facilitate locomotion over unstructured terrain while maintaining its body posture.