Huang Senwei, Zhang Xiuli
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China.
Biomimetics (Basel). 2023 Feb 5;8(1):66. doi: 10.3390/biomimetics8010066.
Legged animals can adapt to complex terrains because they can step or jump over obstacles. Their application of foot force is determined according to the estimation of the height of an obstacle; then, the trajectory of the legs is controlled to clear the obstacle. In this paper, we designed a three-DoF one-legged robot. A spring-loaded inverted pendulum model was employed to control the jumping. Herein, the jumping height was mapped to the foot force by mimicking the jumping control mechanisms of animals. The foot trajectory in the air was planned using the Bézier curve. Finally, the experiments of the one-legged robot jumping over multiple obstacles of different heights were implemented in the PyBullet simulation environment. The simulation results demonstrate the effectiveness of the method proposed in this paper.
有腿动物能够适应复杂地形，因为它们可以跨过或跳过障碍物。它们对足部力量的应用是根据对障碍物高度的估计来确定的；然后，控制腿部的轨迹以越过障碍物。在本文中，我们设计了一个三自由度单腿机器人。采用弹簧加载倒立摆模型来控制跳跃。在此，通过模仿动物的跳跃控制机制，将跳跃高度映射到足部力量。利用贝塞尔曲线规划空中的足部轨迹。最后，在PyBullet仿真环境中进行了单腿机器人跨越不同高度多个障碍物的实验。仿真结果证明了本文所提方法的有效性。
