Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof
Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof
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DOI：
10.1109/tro.2019.2930864
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发表时间：
2019-12-01
影响因子：
7.8
通讯作者：
Nanayakkara, Thrishantha
中科院分区：
文献类型：
--
作者：
Abad, Sara-Adela;Herzig, Nicolas;Nanayakkara, Thrishantha
防滑的鲁棒机制是腿部运动中的一个公开挑战。像山羊这样的动物在悬崖上表现出惊人的抗滑能力。目前还不完全清楚他们身体中的哪些属性决定了这种能力。研究山羊的防滑动力学可以为机器人蹄子的生物灵感设计提供见解。本文测试了蹄的实施如何有助于解决防滑问题。我们进行了数值模拟和实验，使用被动机器人山羊蹄的三个关节的不同顺应性水平。我们确定，与基线（硬蹄）相比，顺应性偏航和俯仰以及硬滚转可以将滑动蹄所需的能量增加约20%。顺应滚动和俯仰允许机器人蹄适应地形的不规则性。这产生了机器人蹄的防滑性的防抱死制动系统样行为。因此，蹄关节中的踝关节和棺材关节对机器人蹄的防滑性能有很大的影响，而球节关节对机器人蹄的防滑性能影响最小。这些见解揭示了机器人蹄子如何用于自主提高防滑性。
Robust mechanisms for slip resistance are an open challenge in legged locomotion. Animals such as goats show impressive ability to resist slippage on cliffs. It is not fully known what attributes in their body determine this ability. Studying the slip resistance dynamics of the goat may offer insight toward the biologically inspired design of robotic hooves. This article tests how the embodiment of the hoof contributes to solving the problem of slip resistance. We ran numerical simulations and experiments using a passive robotic goat hoof for different compliance levels of its three joints. We established that compliant yaw and pitch and stiff roll can increase the energy required to slide the hoof by approximate to 20% compared to the baseline (stiff hoof). Compliant roll and pitch allow the robotic hoof to adapt to the irregularities of the terrain. This produces an antilock braking system-like behavior of the robotic hoof for slip resistance. Therefore, the pastern and coffin joints have a substantial effect on the slip resistance of the robotic hoof, while the fetlock joint has the lowest contribution. These shed insights into how robotic hooves can be used to autonomously improve slip resistance.