具有并联弹性的移动质量跳跃机器人的性能改进
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity
摘要：
机器人跳跃是具有挑战性的，从建模的动力学以及机械设计的角度来看，由于短时间的地面接触，其中致动的世界。以前的工作已经证明了稳定跳跃的移动质量的机器人，其中一个单一的弹簧是利用机器人的身体下面。本文发现，在平行于驱动器的弹簧的增加，大大提高了移动质量跳跃机器人的性能。这是通过一个新的一维跳跃机器人的设计证明。针对该机器人，提出了一种严格的轨迹优化方法。仿真结果被用来研究的能量效率，稳定性和跳跃努力的平行弹簧的影响。我们发现双弹簧模型的能量效率比单弹簧模型高2.5倍，并且能够使用来自致动器的40%的峰值力进行跳跃。此外，双弹簧模型产生稳定的跳跃，而不需要稳定控制器。这些概念的实验证明了一种新型的跳跃机器人，其中跳跃高度达到40厘米。
英文摘要：
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on a moving-mass robot, wherein a single spring was utilized below the body of the robot. This paper finds that the addition of a spring in parallel to the actuator greatly improves the performance of moving mass hopping robots. This is demonstrated through the design of a novel one-dimensional hopping robot. For this robot, a rigorous trajectory optimization method is developed using hybrid systems models with experimentally tuned parameters. Simulation results are used to study the effects of a parallel spring on energetic efficiency, stability and hopping effort. We find that the double-spring model had 2.5x better energy efficiency than the single-spring model, and was able to hop using 40% less peak force from the actuator. Furthermore, the double-spring model produces stable hopping without the need for stabilizing controllers. These concepts are demonstrated experimentally on a novel hopping robot, wherein hop heights up to 40cm were achieved.
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