Jet-HR1: Two-dimensional bipedal robot step over large obstacle based on a ducted-fan propulsion system
Jet-HR1: Two-dimensional bipedal robot step over large obstacle based on a ducted-fan propulsion system
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Jet-HR1：基于涵道风扇推进系统的二维双足机器人跨过大型障碍物
DOI：
10.1109/humanoids.2017.8246905
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Yun Zhang
中科院分区：
文献类型：
--
作者：
Zhifeng Huang;Biao Liu;Jiapeng Wei;Qingsheng Lin;J. Ota;Yun Zhang
本文提出了一种创新的方法，采用涵道风扇推进系统来驱动双足机器人，命名为喷气-HR 1（喷气人形机器人版本。1）的腿，在宽阔的沟渠。沿着轨迹规划选择二维步态，以计算由涵道风扇提供的用于平衡重力力矩的推力扭矩。通过Jet-HR 1在370 mm宽沟渠上的行走仿真和实验验证了该方法的有效性和实用性，其腿的使用率接近80%。
This paper proposes an innovative method to employ a ducted-fan propulsion system to drive the legs of a bipedal robot, named Jet-HR1 (Jet Humanoid Robot ver.1), over broad ditches. two-dimensional gaits are chosen along with trajectory planning to calculate the thrust torque offered by the ducted fan for balancing the gravitational moment. The effectiveness and practicality are validated by Jet-HR1 stepping over a wide ditch with 370 mm, using almost 80% of its leg, both in simulation and experiment.