Robust and directive quadruped locomotion on rough terrain without requiring sensing and actuation
Robust and directive quadruped locomotion on rough terrain without requiring sensing and actuation
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DOI：
10.1109/robio.2016.7866414
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发表时间：
2016-12
期刊：
影响因子：
--
通讯作者：
Takashi Takuma;W. Kase
中科院分区：
文献类型：
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作者：
Takashi Takuma;W. Kase
四足动物适应性地改变它们的躯干姿势，以避免摔倒，并促进定向运动，即使在崎岖的地形。本文重点研究了一种具有被动粘弹性关节的类动物躯干机构。躯干机构的效果是通过改变关节的弹性和配置观察。仿真结果表明，装备躯干机构的机器人在崎岖地形上的移动成功率高于装备刚体的机器人。此外，成功率的分布根据弹性系数、关节数量和关节构型而变化。这些结果表明，躯干机构的四足机器人，以获得强大的和方向性的运动，而不需要传感器和执行器的设计原则。
Quadrupedal animals adaptively change their trunk posture to avoid falling down and to facilitate directive locomotion even on rough terrain. This paper focuses on an animal-like trunk mechanism that has passive viscoelastic joints. The effect of the trunk mechanism is observed by changing the elasticity and configuration of the joints. Simulation results show that the success rate of the locomotion of a robot equipped with the trunk mechanism on rough terrain is higher than that of a robot equipped with a rigid body. In addition, the distribution of the success rate changes according to the elastic coefficient, number of joints, and configuration of the joints. These results suggest a design principle for the trunk mechanism of a quadruped robot to obtain robust and directive locomotion without requiring sensors and actuators.