Adaptive Legged Robots Through Exactly Constrained and Non-Redundant Design
Adaptive Legged Robots Through Exactly Constrained and Non-Redundant Design
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DOI：
10.1109/access.2017.2704088
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发表时间：
2017-05
期刊：
影响因子：
3.9
通讯作者：
O. Kanner;Nicolás Rojas;L. Odhner;A. Dollar
中科院分区：
文献类型：
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作者：
O. Kanner;Nicolás Rojas;L. Odhner;A. Dollar
本文提出了一种设计被动自适应、静态稳定、完全受约束且在站姿过程中无冗余驱动的全身活动步行机器人的新策略。一般来说，全移动腿式机器人包括大量的致动关节，为它们提供了广泛的可控脚部位置，但在站立时会产生过约束，需要运动学冗余和冗余控制才能有效地运动。所提出的设计策略允许消除驱动冗余，从而大大降低了所获得的腿机器人的重量和复杂性，并且允许更简单的控制方案。此外，由此产生的机器人在摆动过程中的欠约束性质允许被动适应崎岖的地形，而不会产生大的接触力。该策略使用运动学运动分析工具来综合腿的拓扑结构，使用欠驱动机器人设计方法来有效地分配驱动约束，并使用弹性元素来影响标称腿的行为。文中详细讨论了采用该方法的几个腿部机器人设计实例，并给出了一个非冗余度步行机器人的概念验证。
This paper presents a novel strategy for designing passively adaptive, statically stable walking robots with full body mobility that are exactly constrained and non-redundantly actuated during stance. In general, fully mobile legged robots include a large number of actuated joints, giving them a wide range of controllable foot placements but resulting in overconstraint during stance, requiring kinematic redundancy and redundant control for effective locomotion. The proposed design strategy allows for the elimination of actuation redundancy, thus greatly reducing the weight and complexity of the legged robots obtained and allowing for simpler control schemes. Moreover, the underconstrained nature of the resulting robots during swing allows for passive adaptability to rough terrain without large contact forces. The strategy uses kinematic mobility analysis tools to synthesize leg topologies, underactuated robotics design approaches to effectively distribute actuation constraints, and elastic elements to influence nominal leg behavior. Several examples of legged robot designs using the suggested approach are thoroughly discussed and a proof-of-concept of a non-redundant walking robot is presented.