This paper studies the design, modeling, and control of a novel quadruped, featuring overconstrained robotic limbs employing the Bennett linkage for motion and power transmission. The modular limb design allows the robot to morph into reptile- or mammal-inspired forms. In contrast to the prevailing focus on planar limbs, this research delves into the classical overconstrained linkages, which have strong theoretical foundations in advanced kinematics but limited engineering applications. The study showcases the morphological superiority of overconstrained robotic limbs that can transform into planar or spherical limbs, exemplifying the Bennett linkage. By conducting kinematic and dynamic modeling, we apply model predictive control to simulate a range of locomotion tasks, revealing that overconstrained limbs outperform planar designs in omni-directional tasks like forward trotting, lateral trotting, and turning on the spot when considering foothold distances. These findings highlight the biological distinctions in limb design between reptiles and mammals and represent the first documented instance of overconstrained robotic limbs outperforming planar designs in dynamic locomotion.

翻译：本文研究了一种新型四足机器人的设计、建模与控制，该机器人采用基于本内特连杆的过约束机械臂进行运动和动力传输。模块化肢体设计使机器人能够变形为爬行类或哺乳类动物形态。与当前主流研究聚焦平面机械臂不同，本研究深入探索了经典过约束连杆机构——这类机构在高等运动学中具有坚实理论基础，但在工程应用中较为有限。本研究展示了过约束机械臂可变形为平面或球面机械臂的形态优越性，并以本内特连杆为例证。通过运动学和动力学建模，我们应用模型预测控制模拟了一系列运动任务，发现考虑足端距离时，过约束机械臂在前进小跑、侧向小跑和原地转向等全向任务中均优于平面设计。这些发现揭示了爬行类与哺乳类动物肢体设计的生物学差异，并首次记录了过约束机械臂在动态运动中超越平面设计的实例。