A Novel Robot Leg Designed by Compliant Mechanism

A novel flexible robot leg is designed by compliant mechanism, which provides a solution for stable walking. A pseudo-rigid-body model (PRBM) is built to analyze and verify the compliant mechanism. The simulation result indicates that the mechanism can approximately meet the requirements. Furthermore, the robot leg can work in two states by bistable design, namely “open state” and “contraction state”. This robot leg is applicable to biped robots or multiped robots in small or micro scale.