Mechanical Design of a Trunk with Redundant and Viscoelastic Joints for Rhythmic Quadruped Locomotion
Mechanical Design of a Trunk with Redundant and Viscoelastic Joints for Rhythmic Quadruped Locomotion
复制标题
用于节奏四足运动的具有冗余和粘弹性关节的躯干的机械设计
DOI：
10.1163/156855312x626352
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发表时间：
2012
影响因子：
2
通讯作者：
T. Masuda
中科院分区：
文献类型：
--
作者：
Takashi Takuma;Ryota Izawa;Toshihiro Inoue;T. Masuda
被动机构，如自由关节和粘弹性组件，使机器人身体的自然振荡，这允许低能量和计算成本的节奏运动。特别是关节的粘弹性可以成为改变固有振动的有力候选者，从而影响运动的操作性能。本研究考虑躯干的被动机构，并探讨了冗余关节和可调粘弹性躯干机构对四足动物运动的贡献。研制了一种具有躯干机构的四足机器人，研究了该机器人在不同步态模式和关节粘弹性条件下的步行性能。建立了基于物理机器人的仿真模型，讨论了躯干的粘弹性对躯干振动的贡献以及躯干关节的粘弹性和数目。使用物理机器人获得的实验结果表明，与具有刚性躯干的机器人相比，所提出的躯干机构有助于成功的运动，并且速度不仅受到步态模式的影响，而且还受到关节粘弹性（即，存在关节粘弹性和步态模式的适当耦合）。仿真结果表明，躯干机构需要联合粘弹性，以实现振荡和更多的关节具有较小的联合粘弹性，使更高的速度。这些结果表明，除了腿机构和控制器的设计，躯干机构的设计也很重要。
Passive mechanisms, such as free joints and viscoelastic components, enable natural oscillation of the robot body, which allows rhythmic locomotion with low energy and computational costs. In particular, joint viscoelasticity can be a powerful candidate for changing natural oscillation and so influence the operation performance of locomotion. The present study considers the passive mechanism of a trunk, and investigates the contributions of a trunk mechanism with redundant joints and tunable viscoelasticity to quadruped locomotion. A physical quadruped robot with a trunk mechanism is developed, and the walking performance of this robot for various gait patterns and joint viscoelasticities is investigated. A simulation model is also constructed based on the physical robot, and the contribution of the viscoelasticity to trunk oscillation and the appropriate joint viscoelasticity and number of trunk joints are discussed. Experimental results obtained using the physical robot indicate that the proposed trunk mechanism contributes to successful locomotion as compared to a robot with a rigid trunk and that the velocity is influenced by not only the gait pattern, but also the joint viscoelasticity (i.e., there are appropriate couplings of the joint viscoelasticity and gait pattern). The simulation results indicate that the trunk mechanism requires joint viscoelasticity in order to achieve oscillation and that a greater number of joints having a smaller joint viscoelasticity enables higher velocity. These results suggest that, in addition to the leg mechanism and the controller design, the design of the trunk mechanism is also important.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T
简单且低成本的合规腿脚系统
DOI：
--
发表时间：
2004
期刊：
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
F.Meyer;A.Sprowitz;M.Lungarella;L.Berthouze
通讯作者：
L.Berthouze