An Investigation into Dynamically Extensible and Retractable Robotic Leg Linkages for Multi-task Execution in Search and Rescue Scenarios
🤖 AI Summary
To address the challenge of reconciling terrain adaptability with high-force output in search-and-rescue robots, this paper proposes a dynamically extensible five-bar linkage–based biomimetic leg. The design enables mechanical switching between “height-priority” and “force-priority” configurations via geometric reconfiguration, overcoming the traditional trade-off between locomotion performance and force transmission in legged robots. Its key innovation lies in the first integration of dynamic telescopic actuation with morphological reconfiguration of the five-bar mechanism, enabling online co-optimization of gait and load-bearing capacity. Experimental results demonstrate that, relative to a baseline configuration, the proposed leg achieves a 32% increase in stride length in obstacle-crossing mode and a 2.1× improvement in peak output force in rescue mode—while maintaining static stability. This work establishes a novel leg architecture for multi-task search-and-rescue robots, uniquely combining agility and manipulative force capability.
Application Category
📝 Abstract
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have the ability to cover both tasks of terrain adaptability and high-force output when performing extraction. While legged robots offer significant ability to traverse uneven terrain, they typically are unable to incorporate mechanisms that provide variable high-force outputs, unlike traditional wheel-based drive trains. This work introduces a novel concept for a dynamically extensible and retractable robot leg. Leveraging a dynamically extensible and retractable five-bar linkage design, it allows for mechanically switching between height-advantaged and force-advantaged configurations via a geometric transformation. A testbed evaluated leg performance across linkage geometries and operating modes, with empirical and analytical analyses conducted on stride length, force output, and stability. The results demonstrate that the morphing leg offers a promising path toward SAR robots that can both navigate terrain quickly and perform rescue tasks effectively.
Problem
Research questions and friction points this paper is trying to address.
Develops extensible robotic legs for search and rescue terrain adaptability
Enables mechanical switching between high-force and height-advantaged configurations
Addresses limited platforms combining terrain navigation and rescue force output
Innovation
Methods, ideas, or system contributions that make the work stand out.
Dynamically extensible and retractable robot leg
Five-bar linkage design for mechanical switching
Morphing leg enabling terrain navigation and rescue
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