A novel approach to gait synchronization and transition for reconfigurable walking platforms
A novel approach to gait synchronization and transition for reconfigurable walking platforms
复制标题
可重构步行平台步态同步和转换的新颖方法
DOI：
10.1016/j.dcan.2015.04.003
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
M. Iwase
中科院分区：
文献类型：
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作者：
Shunsuke Nansai;Nicolás Rojas;M. R. Elara;R. Sosa;M. Iwase
基于单自由度可重构平面腿机构的有腿机器人，能够产生多种有用的步态，由于能够处理高复杂性的环境和任务，同时保持简单的控制方案，因此备受期待。在这些可重构的腿式机器人中，一个重要的考虑因素是在运动中获得稳定性，在休息时，以及在从一种构型到另一种构型的转换中，只要用最少的腿数，就可以实现由腿的不同步态周期导致的行走模式的全部范围。为此，在本文中，我们提出了一种生成输入关节轨迹的方法，以正确同步具有可重构腿的四足机器人的运动。该方法以一个四足机器人为例，该机器人具有可重构的詹森腿，能够产生多达六个有用的不同步态周期。通过仿真结果验证了所提出的技术，显示了平台在其六种可行的步行模式和步态转换阶段的稳定性，从而大大扩展了不可重构设计的能力。
Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform׳s stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design.