Exciting Engineered Passive Dynamics in a Bipedal Robot
Exciting Engineered Passive Dynamics in a Bipedal Robot
复制标题
双足机器人中令人兴奋的工程被动动力学
DOI：
10.1109/tro.2015.2473456
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发表时间：
2015
影响因子：
7.8
通讯作者：
J. Hurst
中科院分区：
文献类型：
--
作者：
Daniel Renjewski;Alexander Spröwitz;Andrew Peekema;Mikhail S. Jones;J. Hurst
设计腿式机器人的常见方法是构建完全驱动的机器并完全在软件中控制机器动力学，小心地避免碰撞并消耗大量能量。然而，这些机器的性能优于人类和动物机器。通过机械部件和神经控制实现的被动动力学的紧密结合，动物获得了令人印象深刻的敏捷性、效率和稳健性。机器人可以从同样的集成方法中受益，但需要强大的理论框架来设计机器的被动动力学并利用它们进行控制。对于这个框架，我们使用双足弹簧质量模型，该模型已被证明可以近似人体运动的动力学。本文报告了双足机器人上弹簧质量行走的首次实现。我们提出使用模板动力学作为控制目标，利用 ATRIAS 机器人的工程被动弹簧质量动力学。结果强调了将被动动力学与基于动力学的控制相结合的好处，并为机器人的动态步态控制开辟了基于弹簧质量模型的控制策略库。
A common approach in designing legged robots is to build fully actuated machines and control the machine dynamics entirely in software, carefully avoiding impacts and expending a lot of energy. However, these machines are outperformed by their human and animal counterparts. Animals achieve their impressive agility, efficiency, and robustness through a close integration of passive dynamics, implemented through mechanical components, and neural control. Robots can benefit from this same integrated approach, but a strong theoretical framework is required to design the passive dynamics of a machine and exploit them for control. For this framework, we use a bipedal spring-mass model, which has been shown to approximate the dynamics of human locomotion. This paper reports the first implementation of spring-mass walking on a bipedal robot. We present the use of template dynamics as a control objective exploiting the engineered passive spring-mass dynamics of the ATRIAS robot. The results highlight the benefits of combining passive dynamics with dynamics-based control and open up a library of spring-mass model-based control strategies for dynamic gait control of robots.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R
影响因子：
2
作者：
Lipfert, Susanne W.;Guenther, Michael;Seyfarth, Andre
通讯作者：
Seyfarth, Andre
影响因子：
3.4
作者：
Peuker, Frank;Maufroy, Christophe;Seyfarth, Andre
通讯作者：
Seyfarth, Andre