髋部驱动单足跳跃
Hip Energized Monopedal Hopping
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中文总结 AI 辅助
针对俯仰未锁定平面单足机器人，利用PD+前馈控制器的俯仰稳定力矩补充能量，通过调整能量分配实现速度与高度平衡，经仿真和实验验证了该策略的有效性。
中文摘要 AI 辅助
我们提出了一种针对俯仰未锁定平面单足机器人的新型步态策略，其中利用传统PD+前馈控制器稳定俯仰产生的反作用力矩来抵消阻尼造成的能量损失。通过移动质心位置，我们的控制器增大了俯仰稳定力矩，从而为步态补充能量。一种新型步态策略可调整径向和角自由度之间的能量分配，以抵消耗散损失并实现用户指定的稳态前后速度与顶点高度之间的平衡。混合平均分析得出了所得步态的不动点和特征值的闭式表达式，有助于理解物理参数和控制参数对性能的相互影响。对通用5连杆双足机器人和Penn Jerboa的精确模型进行的仿真研究显示，其与这些分析预测存在良好对应关系。在Penn Jerboa上开展的物理实验实现了稳定运动，速度范围为1.02 m/s至1.77 m/s（5.10腿长/秒至8.85腿长/秒），且该运动可由数学分析有效近似。
英文摘要
We present a novel stepping strategy for pitch unlocked planar monopeds where the reaction torques from stabilizing pitch with a conventional PD + feedfoward controller are recruited to counteract energetic losses from damping. By moving the location of the mass center, our controller increases the pitch stabilization torque, thereby adding energy to the gait. A new stepping policy adjusts the distribution of energy between the radial and angular degrees of freedom to counteract dissipative losses and achieve a user specified balance between steady state fore-aft speed and apex height. Hybrid averaging analysis yields closed form expressions for the fixed points and eigenvalues of the resulting gait, lending insight into the interplay between the physical and control parameters' influence on performance. Simulation studies on a generic 5 link biped and a careful model of the Penn Jerboa reveal a useful correspondence to these analytical predictions. Physical experiments on the Penn Jerboa exhibit stable locomotion with speeds ranging from 1.02 m/s to 1.77 m/s (5.10 leg lengths/s to 8.85 leg lengths/s) in a manner effectively approximated by the mathematical analysis.
发表机构
- University of Pennsylvania（宾夕法尼亚大学）
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