Kinematic and dynamic analogies between planar biped robots and the reaction mass pendulum (RMP) model
Kinematic and dynamic analogies between planar biped robots and the reaction mass pendulum (RMP) model
复制标题
平面双足机器人与反应质量摆 (RMP) 模型之间的运动学和动力学类比
DOI：
10.1109/ichr.2008.4755943
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
A. Goswami
中科院分区：
文献类型：
--
作者：
A. Goswami
为了简化动力学分析，仿人机器人通常被抽象为各种版本的倒立摆模型。然而，大多数这些模型没有明确的特点robotpsilas旋转惯性，其动力学的一个关键组成部分，特别是它的平衡。为了解决这个问题，我们之前介绍了反应质量摆（RMP），倒立摆的扩展，它通过其质心复合刚体（CCRB）惯性来模拟机器人的转动惯量和角动量。然而，我们只提出了一个机器人和其相应的RMP之间的运动映射。深入研究平面机构，在这里我们推导出RMP的动力学方程，并显式计算它必须具有的参数，以便与平面指南针步态机器人建立等效性。特别是，我们表明，a）机器人和RMP之间的角动量平等并不一定保证动能平等，和B）循环机器人步态可能不会导致循环RMP运动。这项工作提出了一个更广泛的问题，即人形机器人的简单模型必须在数量上有多相似，才能使它们具有实际用途。
In order to simplify dynamic analysis, humanoid robots are often abstracted with various versions of the inverted pendulum model. However, most of these models do not explicitly characterize the robotpsilas rotational inertia, a critical component of its dynamics, and especially of its balance. To remedy this, we have earlier introduced the reaction mass pendulum (RMP), an extension of the inverted pendulum, which models the rotational inertia and angular momentum of a robot through its centroidal composite rigid body (CCRB) inertia. However, we presented only the kinematic mapping between a robot and its corresponding RMP. Focussing in-depth on planar mechanisms, here we derive the dynamic equations of the RMP and explicitly compute the parameters that it must possess in order to establish equivalence with planar compass gait robot. In particular, we show that, a) an angular momentum equality between the robot and RMP does not necessarily guarantee kinetic energy equality, and b) a cyclic robot gait may not result in a cyclic RMP movement. The work raises the broader question of how quantitatively similar the simpler models of humanoid robot must be in order for them to be of practical use.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T