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：本文研究了包含采用本内特连杆进行运动与动力传输的过约束机器人肢体的新型四足机器人的设计、建模与控制。模块化肢体设计使机器人能够变形为爬行动物或哺乳动物形态。与当前对平面肢体的研究重点不同，本研究深入探讨了具有深厚高级运动学理论但工程应用有限的经典过约束连杆机构。研究展示了过约束机器人肢体的形态优越性——通过本内特连杆实例，此类肢体可转化为平面或球面形态。通过运动学与动力学建模，我们应用模型预测控制模拟了一系列运动任务，结果表明：在考虑足端接触距离的情况下，过约束肢体在全向任务（如前行小跑、侧向小跑和原地转向）中优于平面设计。这些发现揭示了爬行动物与哺乳动物肢体设计的生物学差异，并首次记录了过约束机器人肢体在动态运动中超越平面设计的实例。