Design and Performance Evaluation of a Bio-Inspired and Single-Motor-Driven Hexapod Robot With Dynamical Gaits
Design and Performance Evaluation of a Bio-Inspired and Single-Motor-Driven Hexapod Robot With Dynamical Gaits
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DOI：
10.1115/1.4029975
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发表时间：
2015-08
期刊：
影响因子：
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通讯作者：
Ke-Jung Huang;Shen-Chiang Chen;H. Komsuoglu;G. D. Lopes;Jonathan E. Clark;Pei-Chun Lin
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文献类型：
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作者：
Ke-Jung Huang;Shen-Chiang Chen;H. Komsuoglu;G. D. Lopes;Jonathan E. Clark;Pei-Chun Lin
在其生命周期中，六足机器人RHex表现出了令人印象深刻的性能。将预弯与一系列控制方案相结合，展示了各种行为，如跳跃、奔跑、弹跳以及在崎岖地形上奔跑。为了更好地确定设计的被动和机械方面对性能的影响程度，开发并测试了一种新的基于六足弹簧加载倒立摆(滑移)的转轮，该转轮具有新颖的最小控制方案。一个独特的驱动机构被用来允许机器人的操作(包括转向)，只有两个马达。简化的机器人运行稳健，它只根据动作频率表现出行走、滑行或高速运动轮廓。为了更好地捕捉机器人腿的关键非线性特性，提出了一种更详细的动力学模型R2-SLIP。将机器人的性能与基本滑移、R滑移和这种新的R2滑移模型进行了比较。此外，这些结果表明，在未来，R2滑移模型可以用于调整/改进腿柔顺和非圆齿轮的设计，以优化性能。
Over its lifetime, the hexapedal robot RHex has shown impressive performance. Combining preflexes with a range of control schemes, various behaviors such as leaping, running, bounding, as well as running on rough terrain have been exhibited. In order to better determine the extent to which the passive and mechanical aspects of the design contribute to performance, a new version of the hexapedal spring-loaded inverted pendulum (SLIP)-based runner with a novel minimal control scheme is developed and tested. A unique drive mechanism is utilized to allow for operation (including steering) of the robot with only two motors. The simplified robot operates robustly and it exhibits walking, SLIP-like running, or high-speed motion profiles depending only on the actuation frequency. In order to better capture the critical nonlinear properties of the robot’s legs, a more detailed dynamic model termed R2-SLIP is presented. The performance of the robot is compared to the basic SLIP, the R-SLIP, and this new R2-SLIP model. Furthermore, these results suggest that, in the future, the R2-SLIP model can be used to tune/improve the design of the leg compliance and noncircular gears to optimize performance.