面向过约束肢体的单自由度机器人设计：实现高能效、无自碰撞运动
One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion
AI总结：
本文提出一种面向一自由度过约束机器人肢体的计算方法，通过几何优化与轨迹生成实现全周期无自碰撞和高能效运动，并在仿生六足机器人上验证了其行走能效优势。
摘要：
尽管人们期望受自然启发构建具有多自由度（DoF）的机器人肢体，但单自由度设计仍然是基础性的，其优势包括但不限于简单性、鲁棒性、成本效益和效率。机构，尤其是那些以闭环方式连接多个连杆和转动副的机构，在为一自由度系统引入运动多样性方面发挥着关键作用，而这类系统通常在全周期运动范围内受到自碰撞的约束。本研究提出了一种新颖的计算方法，用于为期望的空间轨迹设计一自由度（1-DoF）过约束机器人肢体，同时在全周期旋转中实现高能效、无自碰撞的运动。首先，我们以广义形式给出了基于连杆的机器人肢体在无自碰撞设计中的几何优化问题。接下来，我们通过优化相似性和动力学相关指标，建立了过约束连杆的空间轨迹生成问题。我们进一步优化过约束连杆的几何形状，以确保由单个执行器驱动的运动平滑且无碰撞。我们通过各种实验验证了所提出的方法，包括个性化自动机和仿生六足机器人。由此得到的六足机器人具有过约束机器人肢体，在向前行走时表现出卓越的能效。
英文摘要：
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness, cost-effectiveness, and efficiency. Mechanisms, especially those with multiple links and revolute joints connected in closed loops, play an enabling factor in introducing motion diversity for 1-DoF systems, which are usually constrained by self-collision during a full-cycle range of motion. This study presents a novel computational approach to designing one-degree-of-freedom (1-DoF) overconstrained robotic limbs for a desired spatial trajectory, while achieving energy-efficient, self-collision-free motion in full-cycle rotations. Firstly, we present the geometric optimization problem of linkage-based robotic limbs in a generalized formulation for self-collision-free design. Next, we formulate the spatial trajectory generation problem with the overconstrained linkages by optimizing the similarity and dynamic-related metrics. We further optimize the geometric shape of the overconstrained linkage to ensure smooth and collision-free motion driven by a single actuator. We validated our proposed method through various experiments, including personalized automata and bio-inspired hexapod robots. The resulting hexapod robot, featuring overconstrained robotic limbs, demonstrated outstanding energy efficiency during forward walking.
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。
