弹性棱柱体预紧四足机器人立定跳远建模与轨迹优化
Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine
摘要：
本文提出了一种新的方法来建模和优化的四足机器人与脊柱顺应性，以提高站立跳跃性能相比，四足动物与刚性脊柱的轨迹。我们引入了一个弹性模型的棱柱形机器人脊柱，主动预加载和机械锁定启用在初始和最大长度，并开发了一个约束轨迹优化方法，以共同优化的弹性参数和运动轨迹，以提高跳跃距离。结果表明，一个不太僵硬的弹簧可能会促进跳跃性能，而不是作为一个直接的推进源，但作为一种手段，释放更多的电机功率，通过权衡整体能源效率推进。我们还可视化弹簧系数的整体优化程序的影响，从精力充沛的角度来确定合适的参数区域。
英文摘要：
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a prismatic robotic spine that is actively preloaded and mechanically lock-enabled at initial and maximum length, and develop a constrained trajectory optimization method to co-optimize the elastic parameters and motion trajectories toward enhanced jumping distance. Results reveal that a less stiff spring is likely to facilitate jumping performance not as a direct propelling source but as a means to unleash more motor power for propelling by trading-off overall energy efficiency. We also visualize the impact of spring coefficients on the overall optimization routine from energetic perspectives to identify the suitable parameter region.
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