Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1
Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1
复制标题
肌肉骨骼机器人 BioBiped1 跳跃和奔跑的驱动要求
DOI：
10.1109/iros.2011.6094876
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
O. Stryk
中科院分区：
文献类型：
--
作者：
Katayon Radkhah;O. Stryk
可变弹性驱动被认为是实现类人双足运动的关键特性。此外，智能且自稳定的机械系统也是必不可少的。虽然目前的研究工作主要集中在可变阻抗关节执行器的开发上，但本文讨论的重要问题是如何确定针对快速动态运动的顺应性肌肉骨骼机器人的驱动要求。通过分步方法，提出了弹性人形机器人 BioBiped1 的设计决策。使用多体系统动力学模型和仿真，结合双向串联弹性致动器模型和真实的地面接触模型，我们分析了计算机生成的跳跃和基于人体数据的跑步运动所采用的电动机的致动要求。数值模拟结果附有动力学模拟视频。最近在真实硬件上进行的实验表明，所选的电机齿轮单元和弹性传动装置支持所需的动态运动目标。
Actuation with variable elasticity is considered a key property for the realization of human-like bipedal locomotion. Also, an intelligent and self-stable mechanical system is indispensable. While much effort of current research has been devoted to the development of variable impedance joint actuators, this paper deals with the important question of how to determine the actuation requirements of a compliant, musculoskeletal robot that is targeted at fast dynamic motions. In a step-by-step approach, design decisions for the elastic humanoid robot BioBiped1 are presented. Using multibody system dynamics models and simulations, incorporating bidirectional series elastic actuator models and a realistic ground contact model, we analyze the actuation requirements of the employed electrical motors for computer generated hopping and human data based running motions. The numerical simulation results are accompanied by videos of the dynamics simulations. Recent experiments on the real hardware have indicated that the selected motor-gear units and elastic transmissions support the desired dynamic motion goals.
影响因子：
2.4
作者：
Farley, CT;Morgenroth, DC
通讯作者：
Morgenroth, DC
DOI：
10.1109/icar.2011.6088619
发表时间：
2011-06
期刊：
2011 15th International Conference on Advanced Robotics (ICAR)
影响因子：
--
作者：
Thomas Lens;Katayon Radkhah;O. Stryk
通讯作者：
Thomas Lens;Katayon Radkhah;O. Stryk