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Conventional quadruped robots are usually built with a rigid body, whereas quadrupedal mammals have flexible spines to perform agile behaviours on rough terrains. Applying a flexible spine to robots is a promising way to achieve dynamic and stable movement in extreme environments. In this paper, a novel bio-inspired spine constructed with a tensegrity structure is introduced. The prototype of the spine includes active and passive parts that can both be actively actuated and passively compliant. It has two joints with three degrees of freedom (DOF) each and can generate complex and multi-degree motions simultaneously. To control the spine with adjustable stiffness, a method based on vector closure and adjustment of pretension ratio is proposed. Several experiments are reported to illustrate the physical design of the spine and demonstrate the properties of the spine. The results demonstrate its capabilities of both active motion and passive compliance, which may improve adaptability in complex environments. Future work includes attachment of the spine to a quadruped robot to increase the overall workspace and generate rich motion skills.
Lian et al. (Wed,) studied this question.