A Study on Kicking Motion Strategy for a Legged Robot
A Study on Kicking Motion Strategy for a Legged Robot
复制标题
DOI：
10.18178/ijmerr.11.3.145-150
复制
发表时间：
2022
影响因子：
--
通讯作者：
Masashi Nakamura;Takao Muromaki;T. Urakubo
中科院分区：
文献类型：
--
作者：
Masashi Nakamura;Takao Muromaki;T. Urakubo
为了在水平面或微重力下产生机器人的平移运动，可以利用末端执行器与诸如墙壁和地面的表面之间的冲击力。在本文中，我们考虑一个由四个连杆组成的腿式机器人，它推动某个表面以获得水平面上的平移动量。通过数值优化，在消耗扭矩相同的情况下，寻找动量最大的运动。优化结果表明，撞击表面引起的冲击力运动有利于增加平移动量。
For generating a translational motion of a robot in a horizontal plane or under microgravity, it is possible to utilize an impact force between the end-effector and a surface such as a wall and the ground. In this paper, we consider a legged robot consisting of four links that pushes a certain surface to obtain a translational momentum in a horizontal plane. The motion that maximizes the momentum is searched for, under the condition that the torque consumption during it is the same, by numerical optimization. The optimization results indicate that the motion with an impact force that is caused by hitting the surface is advantageous in increasing the translational momentum.