Do Intermediate Gaits Matter When Rapidly Accelerating?
Do Intermediate Gaits Matter When Rapidly Accelerating?
复制标题
快速加速时中间步态重要吗？
DOI：
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发表时间：
2019
影响因子：
5.2
通讯作者：
Amir Patel
中科院分区：
文献类型：
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作者：
C. Fisher;Christian M. Hubicki;Amir Patel
在机器人平台上的规划和实施方面，对瞬时运动的理解仍然很少，大多数研究集中在稳态运动上。在这封信中，我们研究最佳快速加速（积极和消极）机动的平面数值四足和双足机器人。我们要问的问题是，腿式机器人是否应该通过离散的中间步态（步行到小跑到跳跃）过渡，或者计划直接过渡到最高速度步态。我们提出的数值证据支持过渡到所需的步态没有中间步态过渡的能量最优。轨迹从静止到稳定状态生成，反之亦然。两个成本函数（成本的运输和热为基础的成本函数）进行了分析和比较，在自然界中所作的观察。生成完整的30 m轨迹，并与加速和减速结果进行比较，这进一步支持直接过渡到所需步态。所有的轨迹都观察到遵循滑块模板模型，在未来，可以用作启发式计划这些瞬态机动。
Transient locomotion is still poorly understood in terms of planning and implementation on robotic platforms, with most research concentrated on steady-state motion. In this letter, we investigate optimal rapid acceleration (positive and negative) maneuvers of a planar numerical quadruped and biped robot. The question we ask is whether legged robots should transition through discrete, intermediate gaits (walking to trot to bound) or plan a direct transition to the top-speed gait. We present numerical evidence supporting the energetic optimality of transitioning to a desired gait without intermediate gait transitions. Trajectories were generated from rest to steady state and vice versa. Two cost functions (cost of transport and a heat-based cost function) were analyzed and compared to observations made in nature. A full 30-m trajectory was generated and compared to the acceleration and deceleration results, which further supported transitioning directly to the desired gait. All the trajectories were observed to follow a sliding mass template model which, in future, can be used as a heuristic to plan these transient maneuvers.