Between-leg coupling schemes for passively-adaptive non-redundant legged robots
Between-leg coupling schemes for passively-adaptive non-redundant legged robots
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DOI：
10.1109/icra.2017.7989129
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发表时间：
2017-05
期刊：
影响因子：
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通讯作者：
O. Kanner;Nicolás Rojas;A. Dollar
中科院分区：
文献类型：
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作者：
O. Kanner;Nicolás Rojas;A. Dollar
本文研究了被动自适应无冗余腿式机器人腿间耦合方案的综合问题。高度致动的腿式机器人可以通过主动控制任意地定位它们的脚相对于它们的身体，但是通常在地面接触之后在运动学上过度约束，需要复杂的冗余控制来稳定运动。被动弹簧接头的使用可以提供对地形的一些最小的被动适应性，但是由于实际的行程限制，其被限制为相对低的地形变化性。在本文中，使用4-RR平台作为案例研究，我们表明，实施平行的自适应腿之间的耦合的立场平台可以产生大量的被动适应性粗糙的地形，同时仍然确保身体是完全约束的立场。本研究使用螺旋理论为基础的流动性分析方法，以确定控制的立场平台所需的限制的数量。几个耦合方案，然后考虑和评估通过模拟他们的立场在任意地形的能力。这些仿真结果的实验验证，它表明了所提出的方案的被动适应性的可行性。
This paper studies the synthesis of between-leg coupling schemes for passively-adaptive non-redundant legged robots. Highly actuated legged robots can arbitrarily locate their feet relative to their bodies through active control, but often wind up kinematically over-constrained following ground contact, requiring complex redundant control for stable locomotion. The use of passive sprung joints can provide some minimal passive adaptability to terrain, but it is limited to relatively low terrain variability due to practical travel limits. In this paper, using a 4-RR platform as case study, we show that implementing parallel adaptive couplings between legs of a stance platform can yield substantial passive adaptability to rough terrain while still ensuring that the body is fully constrained in stance. This study uses screw theory-based mobility analysis methods to determine the number of constraints required to control the stance platform. Several coupling schemes are then considered and evaluated through a simulation of their stance capabilities over arbitrary terrain. An experimental validation of these simulation results is presented; it demonstrates the viability of the proposed scheme for passive adaptability.