Dynamic motions in 6 DoFs up to 10 Hz and ± 10 mm amplitude are possible when moving a mass of 300 grams. We characterize the resulting motion platform by tracking sinusoidal and circular trajectories with varying loads. In particular, we exploit the high-power dynamic brushless actuation and the four-leg redundancy when moving the motion platform.

This work explores the concept of a quadruped robot flipped upside-down, with the motion platform fixed between its feet. Here we seek a medium-sized affordable parallel robot capable of powerful and high-speed 6-DoF motion in a comparably large workspace. Similar but smaller motion platforms feature a small work range with reduced degrees of freedom (DoFs) and a limited payload. However, these designs tend to be expensive and large. Traditional motion platforms can be large and powerful to generate multiple g acceleration. Therefore, parallel robots can be adopted for motion platform designs, as long as end effector loads are low. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion. Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. Our results also offer a functional understanding of segmented feet in animals like ratite birds. We report how multi-segmented feet provide a large range of viable centre of pressure points well suited for bipedal robots, but also for quadruped robots on slopes and natural terrain. We also observe that segmented feet reduce sinking on soft substrates compared to ball-feet and cylinder feet. Our one- and two-segment, mechanically adaptive feet show increased viable horizontal forces on multiple soft and hard substrates before starting to slip. We present first results of multi-segment feet mounted to a bird-inspired robot leg with multi-joint mechanical tendon coupling. Here we focus on developing foot mechanisms that resist slipping and sinking also in natural terrain. They run agile over all terrains, arguably with simpler locomotion control. In comparison, animals developed multi-segment legs, mechanical coupling between joints, and multi-segmented feet. Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback.

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