SmooBot, a novel low-degree-of-freedom multilegged robot with a smoothly moving platform is proposed in the paper, which is aimed at helping people do the delivery jobs in the industrial site. Cam compensation mechanisms are applied to the robot so the platform keeps smoothly moving while the robot is walking. With the special design of the compensation mechanism, the height, velocity, and attitude of the platform almost keep constant. The motion input of the compensation mechanism shares the same continuous rotation with the mechanical legs and remain the compact structure. The cam mechanisms are designed based on the kinematics analysis of the mechanical legs. The walking simulations and prototype experiments are carried out to testify the theoretical analysis. Based on the simulation and experiment results, the enhancements of the compensation mechanisms in the platform smoothness and the energy efficiency are discussed. The study in the paper provides a new idea to enable a low-degree-of-freedom multilegged robot to have a smoothly moving platform and to carry heavy load at a high speed by using the cam compensation mechanisms.

中文翻译：

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一种新型平滑移动低自由度多足机器人的分析与实验

论文提出了一种新型低自由度多腿机器人SmooBot，平台平稳移动，旨在帮助人们在工业现场完成送货工作。机器人采用凸轮补偿机制，使平台在机器人行走时保持平稳移动。通过补偿机构的特殊设计，平台的高度、速度和姿态几乎保持恒定。补偿机构的运动输入与机械腿共享相同的连续旋转并保持紧凑的结构。凸轮机构是根据机械腿的运动学分析设计的。进行步行仿真和原型实验以验证理论分析。根据仿真和实验结果，讨论了平台平滑度和能量效率补偿机制的增强。本文的研究为利用凸轮补偿机构使低自由度多腿机器人具有平稳移动的平台和高速承载重负载提供了一种新思路。