Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking
Experimental development of a foot mechanism with shock absorbing material for acquisition of landing surface position information and stabilization of dynamic biped walking
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一种用于获取落地面位置信息并稳定动态双足行走的减震材料足部机构的实验开发
DOI：
10.1109/robot.1995.525694
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
I. Kato
中科院分区：
文献类型：
--
作者：
J. Yamaguchi;A. Takanishi;I. Kato
作为拟人仿人步行机器人适应未知不平表面的动态仿人步行的第一阶段，本文介绍了一种特殊的带有减震材料的足部机构，该机构用于稳定动态仿人步行并获取着陆表面的位置信息。新脚具有三个功能：（1）获得关于相对于着陆表面的位置的信息的功能;（2）吸收脚着陆的震动的功能;以及（3）稳定支撑腿的变化的功能。制作了两个足机构单元，开发了内部安装足机构的步行机器人WL-12 RVI，并使用WL-12 RVI进行了步行实验。其结果是，降低了俯仰轴周围的振动，降低了俯仰轴上的踝关节致动器的扭矩需求，增加了动态步态成功概率，并获得了着陆表面信息。
As the first stage of dynamic biped walking adapting to an unknown uneven surface using an anthropomorphic biped walking robot, this paper introduces a special foot mechanism with shock-absorbing material that stabilizes dynamic biped walking and acquires position information on the landing surface. The new foot has three functions: (1) a function to obtain information on the position relative to a landing surface; (2) a function to absorb the shock of the foot landing; and (3) a function to stabilize changes in the support leg. Two units of the foot mechanism were produced, a biped walking robot WL-12RVI that had the foot mechanism installed inside it was developed and a walking experiment with WL-12RVI was performed. As a result, decreased vibration around the pitch axis, decreased torque demands on ankle actuators on the pitch axis, increased dynamic biped walking success probability, and acquired landing surface information were achieved.