发表机构
Dynamic Legged Systems, Istituto Italiano di Tecnologia（意大利技术研究院动态腿足系统实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文通过仿真分析被动臂刚度-阻尼配置对四足机器人不同步态下载荷运动的影响，发现欠阻尼阻抗增加振荡并降低ZMP裕度，并绘制步态-载荷-刚度-阻尼映射图。
AI 中文摘要
被动机械接口为四足机器人承载载荷提供了一种轻量化的替代方案，相较于主动驱动机械臂，但其阻抗直接将载荷动力学与运动模式耦合。本文分析了在不同步态和载荷条件下，被动臂刚度-阻尼选择如何影响承载运动。我们在平地运动仿真中比较了欠阻尼和阻尼被动臂阻抗配置。对于爬行步态，其支撑多边形保持良好定义，结果表明欠阻尼阻抗增加了被动关节振荡，并可能相对于支撑多边形降低ZMP裕度。小跑步态被保留作为被动臂的动态激励案例，但不用于直接的ZMP裕度稳定性比较。结果汇总于步态-载荷-刚度-阻尼映射图中，其中ZMP裕度降低针对爬行步态进行评估，而小跑仅作为被动臂激励案例保留。
英文摘要
Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics with the locomotion pattern. This paper analyzes how passive-arm stiffness-damping selection affects payload-carrying locomotion under different gait and payload conditions. We compare damped and underdamped passive-arm impedance configurations in simulation during flat-ground locomotion. For crawl gaits, where the support polygon remains well defined, the results show that underdamped impedance increases passive-joint oscillations and can reduce the ZMP margin with respect to the support polygon. Trot is retained as a dynamic excitation case for the passive arm, but it is not used for direct ZMP-margin stability comparison. The results are summarized in gait-payload-stiffness-damping maps, where ZMP-margin reduction is evaluated for crawl gaits and trot is retained only as a passive-arm excitation case.
