The Energetic Benefit of Robotic Gait Selection—A Case Study on the Robot RAMone
The Energetic Benefit of Robotic Gait Selection—A Case Study on the Robot RAMone
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DOI：
10.1109/lra.2017.2661801
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发表时间：
2017-01
影响因子：
5.2
通讯作者：
Nils Smit-Anseeuw;R. Gleason;Ram Vasudevan;C. Remy
中科院分区：
文献类型：
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作者：
Nils Smit-Anseeuw;R. Gleason;Ram Vasudevan;C. Remy
腿部机器人应该以不同的期望速度使用不同的步态吗？如果是这样，这些步态是由什么构成的？本文以平面两足机器人Ramone为例，对这些问题进行了研究。利用机器人的真实模型，本文给出了一系列轨迹优化的结果，以最小化运输的电气成本，并找到相关的最优运动策略。这些优化表明，在低速时，执行瞬间转移支撑的弹道行走步态是最经济的。在较高的速度下，伸展气相的弹簧质量跑成为最佳步态。此外，还说明了最佳跑步步态是在膝关节指向远离而不是朝向运动方向的情况下进行的。弹道行走和弹跳团跑之间的转换以1.04m/S的速度进行，切换可以减少高达259%的能量消耗。
Should a legged robot use different gaits at different desired speeds? If so, what constitutes these gaits? This work examines these questions through a case study on the planar bipedal robot RAMone. Using a realistic model of the robot, this paper presents the outcome of a series of trajectory optimizations which minimize the electrical cost of transport and find the associated optimal motion strategies. These optimizations show that at low speeds it is most economical to perform a ballistic walking gait with an instantaneous transfer of support. At higher speeds, spring-mass running with an extended air-phase becomes the optimal gait. Additionally, it is illustrated that the optimal running gait is conducted with the knee joints pointing away from rather than towards the direction of travel. The transition between ballistic walking and spring-mass running happens at a speed of 1.04 m/s, and switching can reduce energy expenditure by up to 259%.