Design and control of robot legs with bi-articular muscle-tendon complex-猫眼课题宝

DOI：

10.1109/robio.2017.8324812

发表时间：

2017-12

期刊：

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

影响因子：

通讯作者：

中科院分区：

其他

文献类型：

作者：

Ryuki Sato;Eiki Kazama;A. Ming;M. Shimojo;Fei Meng;Huaxin Liu;Xuxiao Fan;Xuechao Chen;Zhangguo Yu;Qiang Huang

动物的肌肉骨骼系统在其生存环境中进化到最佳的运动形式。他们惊人的动态运动是通过协同使用这些肌肉和肌腱来执行的。特别是，众所周知，小腿的肌肉-肌腱复合体极大地有助于猫科动物如猫和猎豹的快速奔跑和跳跃。这个由腓肠肌和跟腱组成的复合体通过储存和再利用运动过程中的动能产生巨大的输出。为了实现类生物的动态运动，我们从猫的双关节肌肉-肌腱复合体中得到启发，设计了一种由一个弹性连杆和电机组成的四杆机构--弹性四杆机构。本文通过纵跳仿真，对腿式四杆机构进行了考虑弹性连杆弹性特性的优化设计。此外，我们提出了从双关节肌肉-肌腱复合体的拉伸缩短周期（SSC）的启发下的跳运动控制策略。通过对两足机器人的跳落实验，证明了优化设计和新的控制策略的有效性。

The musculoskeletal system of animals is evolved to an optimal form for their locomotion in their living environments. Their phenomenal dynamic motions are performed by synergistically using those muscles and tendons. In particular, it is known that the muscle-tendon complex in lower leg greatly contributes to the fast running and jumping of felidae like cats and cheetahs. This complex, which is composed of gastrocnemius and Achilles' tendon, generates large output by storing and reusing the kinetic energy during their locomotions. To realize creature-like dynamic motion, we have developed leg mechanism called elastic four-bar linkage mechanism, which is made of four-bar linkage mechanism with one elastic linkage and electrical motor, inspired by bi-articular muscle-tendon complex of cats. In this paper, we optimize the design of the four-bar linkage mechanism including elasticity characteristics of elastic linkage in this leg mechanism by vertical jump simulation. Moreover, we propose the motion control strategy for drop jump inspired from the Stretch-Shortening Cycle (SSC) of bi-articular muscle-tendon complex. As a result of drop jump experiment using two-legged robot, the robot realized high jumps owing to the optimal design and the new control strategy.

Design and control of robot legs with bi-articular muscle-tendon complex

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