Analysis of biped running with rotational inerter
Analysis of biped running with rotational inerter
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DOI：
10.1109/robio.2016.7866527
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发表时间：
2016-12
期刊：
影响因子：
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通讯作者：
Rin Takano;M. Yamakita;Qiuguo Zhu
中科院分区：
文献类型：
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作者：
Rin Takano;M. Yamakita;Qiuguo Zhu
为了实现高效、高速的双足运动，提出了多种控制方法和优化构型。在被动动态行走的研究领域，一些研究者将研究重点放在了机构上，并证实了采用弹簧等机械阻抗的机器人具有良好的运动性能。提出了旋转惯性器作为增加机器人机械阻抗的机构之一，并证明了旋转惯性器对提高机器人的运动性能也有一定的作用。然而，旋转惯性器改善运动性能的具体原因尚不清楚，因此应用旋转惯性器的最佳方式也不清楚。因此，本文采用不同的方法研究了仿人机器人的两足行走。由此，给出了应用旋转惯性器提高运行性能的指导。
To realize energy efficient and high speed biped locomotion, many control method and optimal configuration were proposed. In the research field of passive dynamic walking, some researchers focused on the mechanism and confirmed that robots applied with mechanical impedances like spring have good performance of locomotion. The rotational inerter was also proposed as one of the mechanisms to increase robot's mechanical impedances, and it was showed that the rotational inerter also has the effect to improve performance of locomotion. However, the details why the rotational inerter improves the performance of locomotion has not been clear, hence the optimal way to apply the rotational inerter has not been clear too. In this paper, we thus investigate biped running of humanoid robot with applying the rotational inerter with different ways. From the result, we give a guide to apply the rotational inerter to improve running performance.