变刚度踝关节双足机器人的分析与控制。
Analysis and control of biped robot with variable stiffness ankle joints.
出版信息
Technol Health Care. 2020;28(S1):453-462. doi: 10.3233/THC-209046.
BACKGROUND
Biped robot locomotion is an active topic of research, and the walking stability is one of the research objectives.
OBJECTIVE
This paper discusses the variable stiffness ankle joint and the walking control of a biped robot.
METHODS
A design is introduced that achieves the ankle joint variable stiffness by using a pneumatic unit. The actuation system of the biped robot is based on the hybrid use of electric and pneumatic. The locomotion control architecture has been proposed to exploit natural leg dynamics in order to improve the biped robot walking stability. We also present a dynamic simulation which matches the biped robot and experiments with the real biped robot.
RESULTS
The simulation and experiments result that introducing the variable stiffness ankle joint and the controller achieve a significant improvement in foot-ground impact and walking stability of the biped robot.
CONCLUSION
The biped robot with variable stiffness ankle joints has a better walking performance under the control method.
背景
双足机器人的运动是一个活跃的研究课题，行走稳定性是研究目标之一。
目的
本文讨论了双足机器人的变刚度踝关节和行走控制。
方法
介绍了一种通过气动装置实现踝关节变刚度的设计。双足机器人的驱动系统基于电-气混合使用。为了提高双足机器人的行走稳定性，提出了一种利用腿部自然动力学的运动控制架构。我们还提出了一个动态仿真，该仿真与双足机器人和真实双足机器人的实验相匹配。
结果
仿真和实验结果表明，引入变刚度踝关节和控制器显著提高了双足机器人的脚地冲击和行走稳定性。
结论
在控制方法的作用下，具有变刚度踝关节的双足机器人具有更好的行走性能。
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