关键词: 仿生六足机器人, 柔顺腿, 刚性腿, 伪刚体模型

Abstract: In order to explore the specific influences of the curved legs with compliance on the motion performance of the bionic hexapod robots， firstly， the PRB model was used to describe the deformation features of the curved legs， and the mathematical expression of the stiffness was given.  Then， based on the stiffness model， a virtual prototype was built in the Webots simulation environment， and the changes in velocity and energy consumption rate of the bionic hexapod robots were analyzed by setting different stiffnesses of the curved legs.  Finally， the curved legs with different stiffness were fabricated and verified in the physical prototype.  The results show that the compliance of the curved legs may be more accurately described by the PRB model， which improves the velocity of the bionic hexapod robots and reduces the energy consumption. 

Key words:  , bionic hexapod robot, compliant leg, rigid leg, pseudo-rigid body（PRB） model