Inerter effects for running robots with mechanical impedance
Inerter effects for running robots with mechanical impedance
复制标题
DOI：
10.1109/robio.2017.8324547
复制
发表时间：
2017-12
期刊：
影响因子：
--
通讯作者：
Y. Hanazawa;Rin Takano;M. Yamakita
中科院分区：
文献类型：
--
作者：
Y. Hanazawa;Rin Takano;M. Yamakita
为实现腿式机器人的高速运行提供了更好的效果。以前最简单的具有机械阻抗的机器人由一个质量块和一个带弹簧的伸缩腿组成。但是，机器人的运行速度受到模型自然周期的限制，不能自由设计。我们提出的方法克服了这个限制凭借的惯性。通过数学分析和数值仿真证明了该方法的有效性。
This paper presents inerer effect for achieving high-speed running of legged robots. The previous simplest biped robot with mechanical impedance consisted of a mass and a telescopic leg with a spring. However, the running speed of the robot is limited by the natural period of the model, which cannot be freely designed. Our proposed method overcomes this limitation by virtue of the inerter. The effectiveness of the proposed method is demonstrated through a mathematical analysis and numerical simulations.