This invention discloses a biomimetic cheetah spine
elastic energy storage high-speed
gait mechanism, belonging to the field of biomimetic
legged robot motion execution and efficient
gait control technology. Currently, quadrupedal and humanoid robots generally suffer from low energy utilization, high overall motion
power consumption, significant
gait rigidity
impact, and limited continuous long-distance high-speed movement capability under high-speed running conditions. Conventional rigid linkage structures are difficult to achieve the efficient conversion and recycling of kinetic and elastic
potential energy during biological movement. This invention mimics the biological movement mechanism of a cheetah during high-speed running, characterized by periodic bending and extension of the spine accompanied by
elastic energy storage and release through tendons. It designs a multi-segment biomimetic flexible spinal main structure, combined with high-modulus
energy storage tendon components, joint damping buffer units, and a collaborative drive linkage mechanism. This enables the
robot to recover, store, and release energy within the complete
gait cycle of stepping,
takeoff, and landing, thereby significantly improving running speed, reducing drive
system load, minimizing
body vibration and
impact, and enhancing overall stability and endurance under high-speed movement conditions. This technical solution has a highly original structure and is significantly different from existing bionic gait mechanisms. It can be widely used in equipment such as high-speed quadruped robots,
emergency rescue robots, outdoor inspection robots, and racing
robot platforms.