一种具有触发定时控制的 compliant 踝关节驱动指南针步行器
A compliant ankle-actuated compass walker with triggering timing control
AI总结：
本文提出了一种具有触发定时控制的踝关节驱动指南针步行器，通过串联弹性执行器实现非瞬时的踝关节推离，扩展了双足模型的运动能力。
摘要：
被动动态步行器被广泛采用作为双足步行的数学模型。这些模型的稳定运动仅限于倾斜表面，需要重力能量。各种技术，如通过踝关节和髋关节的驱动，已被提出以扩展这些模型在水平地面和粗糙地形上的适用性，并提高运动效率。然而，大多数这些技术依赖于脉冲能量注入方案和扭力弹簧，这在物理平台上实现起来相当具有挑战性。这里提出了一种新的模型，称为触发控制踝驱动指南针步态（TC-AACG），它允许非瞬时的 compliant 踝关节推离。所提出的技术可以通过串联弹性执行器（SEAs）在物理平台上实现。我们的系统性研究显示，所提出的方法在双足模型的运动能力方面比脉冲踝推离方法有所扩展。我们提供了广泛的仿真分析，研究所提出模型的运动速度、机械运输成本和吸引盆地。
英文摘要：
Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Various techniques, such as actuation through the ankle and hip joints, have been proposed to extend the applicability of these models to level ground and rough terrain with improved locomotion efficiency. However, most of these techniques rely on impulsive energy injection schemes and torsional springs, which are quite challenging to implement in a physical platform. Here, a new model is proposed, named triggering controlled ankle actuated compass gait (TC-AACG), which allows non-instantaneous compliant ankle pushoff. The proposed technique can be implemented in physical platforms via series elastic actuators (SEAs). Our systematic examination shows that the proposed approach extends the locomotion capabilities of a biped model compared to impulsive ankle pushoff approach. We provide extensive simulation analysis investigating the locomotion speed, mechanical cost of transport, and basin of attraction of the proposed model.
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