Optimization of Standing Long Jump Strategy on a Small Quadruped Robot
Optimization of Standing Long Jump Strategy on a Small Quadruped Robot
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DOI：
10.1109/robio.2018.8665109
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发表时间：
2018-12
期刊：
影响因子：
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通讯作者：
Zewen He;Fei Meng;Huaxin Liu;Xuxiao Fan;Shengkai Liu;Ryuki Sato;A. Ming;Qiang Huang
中科院分区：
文献类型：
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作者：
Zewen He;Fei Meng;Huaxin Liu;Xuxiao Fan;Shengkai Liu;Ryuki Sato;A. Ming;Qiang Huang
四足动物非凡的跳跃能力，在很大程度上归因于适当的跳跃运动策略与弹性元件的腿。介绍了机器人从静止状态跳跃到最大水平距离的优化过程，并在一个采用弹性四杆机构的小型四足机器人上进行了验证。通过建立描述真实的机器人动力学特性的简化杆模型，采用两步优化的方法来搜索最佳跳跃运动。真实的机器人实验验证了该机构和跳跃优化方法的有效性，机器人最大水平跳跃距离可达250 mm（体长的78%）。
The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).