An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
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用于高速运动的铰接式闭合运动链平面机器人腿
DOI：
10.1115/1.4045689
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Ben-Tzvi, Pinhas
中科院分区：
文献类型：
--
作者：
Liu, Yujiong;Ben-Tzvi, Pinhas
本文介绍了设计，动力学建模，并集成的单自由度（DOF）机器人腿机构的尾巴四足动物运动。该设计采用了一个轻量级的六连杆机构，耦合髋关节和膝关节屈曲/伸展关节机械，只需要一个单一的驱动程度。通过利用参数优化，实现了独特的拓扑布置，其导致非常适合于包括小跑、跳跃和疾驰的动态步态的脚轨迹。此外，奇异摄动的混合动力学框架，以解决缺乏强大的方法，提供了一个解决方案的微分代数方程（DAE）的特点封闭运动链（CKC）的结构，以及混合性质的腿运动。通过将系统动力学近似为常微分方程（ODE）并渐近地将约束误差驱动到零，CKCs可以采用现有的实时基于模型/模型预测/混合控制框架。通过仿真验证了动力学模型的正确性，并通过实验验证了足部运动轨迹的正确性。初步的开环平面运行表明速度高达3.2 m/s。这些优势，伴随着低集成成本，保证这条腿作为一个强大的，有效的平台，为未来的尾四足动物的研究。
This paper presents the design, dynamic modeling, and integration of a single degree of freedom (DOF) robotic leg mechanism intended for tailed quadruped locomotion. The design employs a lightweight six-bar linkage that couples the hip and knee flexion/extension joints mechanically, requiring only a single degree of actuation. By utilizing a parametric optimization, a unique topological arrangement is achieved that results in a foot trajectory that is well suited for dynamic gaits including trot-running, bounding, and galloping. Furthermore, a singular perturbation is introduced to the hybrid dynamic framework to address the lack of robust methods that provide a solution for the differential algebraic equations (DAEs) that characterize closed kinematic chain (CKC) structures as well as the hybrid nature of legged locomotion. By approximating the system dynamics as ordinary differential equations (ODEs) and asymptotically driving the constraint error to zero, CKCs can adopt existing real-time model-based/model-predictive/hybrid-control frameworks. The dynamic model is verified through simulations and the foot trajectory was experimentally validated. Preliminary open-loop planar running demonstrated speeds up to 3.2 m/s. These advantages, accompanied by low-integration costs, warrant this leg as a robust, effective platform for future tailed quadruped research.
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DOI：
10.1016/0167-2789(92)90243-g
发表时间：
1992
期刊：
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影响因子：
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期刊：
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影响因子：
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