Novel leg adjustment approach for hopping and running
Novel leg adjustment approach for hopping and running
复制标题
用于跳跃和跑步的新颖腿部调整方法
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
M. Yazdanpanah
中科院分区：
文献类型：
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作者：
Maziar Ahmad Sharbafi;A. Seyfarth;M. N. Ahmadabadi;M. Yazdanpanah
能够进行高效和强健的运动是现实世界中的腿部机器人的关键条件。与跑步和行走不同[1]，稳定的跳跃不能在相对于地面的固定攻角下实现。此外，在固定攻角的情况下，稳定飞行的吸引区很小。这一缺点以及对运行速度和控制参数的敏感性存在于常见的支腿调整方法中。在本研究中，对于跑动和跳跃滑移模型，证明了新方法的优越性。它类似于人类的跳跃策略来应对扰动，如[2]所示。该方法称为基于速度的腿部调整(VBLA)，可以实现扰动跳跃的无差拍响应。采用这种方法，可以在很大的速度范围内运行。
The ability to perform efficient and robust locomotion is crucial condition for real-world legged robots. Unlike running and walking [1], stable hopping cannot be achieved with a fixed angle of attack with respect to ground. Also, the region of attraction for stable running is quite small with fixed angle of attack. This drawback and sensitivity to running velocity and control parameters exist in common leg adjustment methods. In this study, the superiority of the new method regarding aforementioned concerns is shown for running and hopping SLIP model. Its similarity to human hopping strategy to cope with perturbation was shown in [2]. The presented method, called VBLA (Velocity Based Leg Adjustment) can achieve dead beat response for perturbed hopping. With this approach, running in a large range of velocities can be obtained.
影响因子：
3.4
作者：
Peuker, Frank;Maufroy, Christophe;Seyfarth, Andre
通讯作者：
Seyfarth, Andre