Hybrid toe and heel joints for biped/humanoid robots for natural gait
Hybrid toe and heel joints for biped/humanoid robots for natural gait
复制标题
用于双足/人形机器人的混合脚趾和脚跟关节，实现自然步态
DOI：
10.1109/iccas.2007.4406823
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Gap
中科院分区：
文献类型：
--
作者：
R. P. KumarI;Nandha Handharu;Jungwon Yoonl;Gap
具有脚趾和脚跟关节的机器人/人形机器人能够更自然地运动，这是由于额外的自由度。虽然被动弹簧加载接头可以在一定程度上有所帮助，但它们在接头扭矩和接头角位移之间引入了约束。在本文中，我们建议使用混合主动/被动脚趾和脚跟关节，以适应广泛的步长和速度以及不平坦的地形。脚趾接头是弹簧加载的，以最小化所需的最大扭矩，从而最小化当脚趾致动器保持期望的零力矩点（ZMP）时消耗的能量。通过控制在脚趾关节处产生的扭矩，允许机器人的ZMP在单支撑阶段（SSP）期间从脚跟平滑地移动到脚趾，并且在双支撑阶段（DSP）期间从后足的脚趾平滑地移动到前足。两种不同的ZMP轨迹在脚趾支撑阶段进行了比较。通过对机器人模型的数值仿真，证明了所提出的策略的有效性。最后，脚跟关节的使用进行了讨论，在双支撑阶段提供额外的支持，允许更大的步长，以及在脚跟撞击吸收的影响。
A biped/humanoid robot with toe and heel joints is capable of more natural locomotion due to the additional degrees of freedom available. Though passive spring loaded joints can help to some extent, they introduce constraints between the joint torque and the joint angular displacement. In this paper, we propose to use hybrid active/passive toe and heel joints in order to accommodate a wide range of step lengths and speeds as well as uneven terrain. The toe joints are spring loaded to minimize the maximum torque required and thus the amount of energy consumed when the toe actuator is maintaining the desired zero moment point (ZMP). By controlling the torque produced at the toe joints, the ZMP of the biped robot is allowed to move smoothly from heel to toe during single support phase (SSP) and from the toe of the trailing foot to the leading foot during double support phase (DSP). Two different ZMP trajectories during toe support phase are compared. The effectiveness of the proposed strategy is demonstrated through numerical simulations on a biped robot model. Finally, the use of heel joint is discussed in relation to providing additional support during double support phase, allowing larger step lengths, as well as absorbing impact during heel strike.