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Flexlizard: A Fast-Running Bipedal Lizard Robot with Optimized Lateral Bending

AJAS · 2024 Robotics and Intelligent Machines (inferred)

Arielsie Li · Massachusetts Academy of Sciences

Overview

This paper reports on an innovative bipedal lizard-inspired robot that utilizes the lateral bending of its body to achieve high-speed running with a controlled yaw and roll angle. A digital kinematic model of the robot was developed, simulated, and optimized based on the anatomy and movements of a real-life bipedal lizard. A prototype of the robot was built to reproduce the modeled movements. Subsequently, sensors and an OpenMV camera were added to the robot's electronic system, producing an artificial sensory system operated through a fuzzy adaptive control algorithm, enabling the robot to alter its movements to maintain stability. The optimal lateral body motions that yield the most effective robot running were then experimentally determined, where the robot is confined within a standard treadmill. The introduction of lateral bending provides a reliable and novel solution to the problem of locomotion in bipedal robots. The result is a robot that weighs only 561.05 g, measures only 65.4 cm long, and is capable of a maximum running speed of 1.532 m/s while maintaining an upright posture in the pitch direction and an absolute yaw angle of below 3 degrees. The outcomes of this study demonstrate the potential of lateral bending, fuzzy adaptive control algorithms, as well as the utilization of general lizard structure, in enhancing bipedal robot performance. Future studies may attempt free-form robotic motions through further utilization of such novel methods and explore applications of the robot in environmental fields.

Competition history

  • AJAS 2024 Category not listed

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Source: AAAS Annual Meeting (Confex) / American Junior Academy of Science

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