Bionic body bending driven by cables for quadruped robot

The body of the quadruped robots are generally designed with the rigid structure, which is lack of the flexibility. It is difficult for quadruped robot to achieve mobility and stability similar to the four-legged creatures. In order to improve the maneuverability of the quadruped robot, a kind of bionic body driven by cables is presented, which is composed of the front body, bionic spine, two cable driving components and rear body. The bionic body can achieve lateral or pitch bending. The kinetics of the bionic body is analyzed. The Euler cantilever theory is adopted to analyze the bionic body bending, and the relationship between the cable driving force and the bending angle is determined. The simulation of the bionic body bending with different stiffness based on virtual prototyping technology is performed.