When legged robots walk on rugged roads, they would suffer from strong impact from the ground. The impact would cause the legged robots to vibrate, which would affect their normal operation. Therefore, it is necessary to take measures to absorb impact energy and reduce vibration. As an important part of a goat’s foot, the hoof capsule can effectively buffer the impact from the ground in the goat’s running and jumping. The structure of the hoof capsules and its principle of buffering and vibration reduction were studied. Inspired by the unique shape and internal structure of the hoof capsules, a bionic foot was designed. Experimental results displayed that the bionic foot could effectively use friction to consume impact energy and ensured the stability of legged robot walking. In addition, the bionic foot had a lower natural vibration frequency, which was beneficial to a wide range of vibration reduction. This work brings a new solution to the legged robot to deal with the ground impact, which helps it adapt to a variety of complex terrain.

中文翻译：

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腿式机器人仿生缓冲减振脚的设计

当腿式机器人在崎岖不平的道路上行走时，它们会受到地面的强烈冲击。撞击会导致腿式机器人发生振动，从而影响其正常运行。因此，需要采取措施吸收冲击能量，减少振动。蹄囊作为山羊足部的重要组成部分，可以有效缓冲山羊跑跳时来自地面的冲击力。研究了蹄囊的结构及其缓冲减振原理。受蹄囊独特的形状和内部结构的启发，设计了仿生脚。实验结果表明，仿生足可以有效地利用摩擦来消耗冲击能量，保证腿式机器人行走的稳定性。此外，仿生脚的固有振动频率较低，这有利于大范围的减振。这项工作为腿式机器人处理地面冲击带来了新的解决方案，有助于其适应各种复杂的地形。