用于串联式弹性足式机器人跳跃的踝关节膜片驱动
Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping
摘要：
机器人需要轻巧的腿敏捷的运动，和内在的系列弹性顺应性已被证明是一个主要成分的节能运动和鲁棒的运动控制。动物的解剖学和运动能力强调了轻质腿和用于远端腿关节的集成、紧凑、系列弹性致动的重要性。但与机器人不同的是，动物通过肌肉肌腱单元实现了一系列的弹性驱动。到目前为止，还没有一种设计具有完美的远端腿运动致动器的所有特征;低重量和低惯性设计，具有高机械效率，无粘着和滑动摩擦，低机械复杂性，高功率输出，同时易于安装。理想地，这种致动器可以被直接控制，而没有机械交叉耦合，例如远程控制。考虑到这一目标，我们提出了一个低摩擦，轻型系列弹性隔膜远端致动器（SELDA），满足许多，但不是全部，上述要求。我们开发，实施和表征的仿生机器人腿，具有SELDA驱动的脚段。我们比较了两个腿配置控制的中央模式发生器，都具有敏捷向前跳跃。通过调整SELDA的激活时机，我们有效地调整了机器人的跳跃高度的11%，其前进速度的14%，即使相对较低的功率注入到远端关节。
英文摘要：
Robots need lightweight legs for agile locomotion, and intrinsic series elastic compliance has proven to be a major ingredient for energy-efficient locomotion and robust locomotion control. Animals' anatomy and locomotion capabilities emphasize the importance of that lightweight legs and integrated, compact, series elastically actuated for distal leg joints. But unlike robots, animals achieve series elastic actuation by their muscle-tendon units. So far no designs are available that feature all characteristics of a perfect distal legged locomotion actuator; a low-weight and low-inertia design, with high mechanical efficiency, no stick and sliding friction, low mechanical complexity, high-power output while being easy to mount. Ideally, such an actuator can be controlled directly and without mechanical cross-coupling, for example remotely. With this goal in mind, we propose a low-friction, lightweight Series ELastic Diaphragm distal Actuator (SELDA) which meets many, although not all, of the above requirements. We develop, implement, and characterize a bioinspired robot leg that features a SELDA-actuated foot segment. We compare two leg configurations controlled by a central pattern generator that both feature agile forward hopping. By tuning SELDA's activation timing, we effectively adjust the robot's hopping height by 11% and its forward velocity by 14%, even with comparatively low power injection to the distal joint.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
