Comparative Experimental Study of Ground Reaction Force on Hemispherical Foot and Bionic Equinus of Quadruped Robot

The foot and ground force directly affect the propulsion performance and stability of quadruped robot. At present, the typical robots' foot, such as flat foot, cylindrical foot and spherical foot, are being widely used. However, the bionic foot almost haven't got very good application. This paper presents a kind of bio-inspired equinus model and a mechanical single leg system. The three dimensional model of equinus had been conducted, and 3D printing technology is also been used to produce bio-inspired foot. To compare the ground reaction force on quadruped robot, this paper conducts tests of hemispherical foot and bio-inspired equinus. Experiments show that the propulsive force of bio-inspired equinus is more excellent than hemispherical foot; and the former makes the robot more stable during walking. The experimental result provides the experimental basis and references for the follow-up study on Bio-inspired foot of quadruped robot.