Robotic vertical jumping agility via series-elastic power modulation
Robotic vertical jumping agility via series-elastic power modulation
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DOI：
10.1126/scirobotics.aag2048
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发表时间：
2016-12-06
期刊：
影响因子：
25
通讯作者：
Fearing, R. S.
中科院分区：
文献类型：
--
作者：
Haldane, Duncan W.;Plecnik, M. M.;Fearing, R. S.
一些树栖哺乳动物有能力快速和重复地跳跃垂直距离2米，从休息开始。我们用一个我们称之为垂直跳跃敏捷性的指标来描述这种表现。通过基本的动力学关系，我们表明，这种敏捷性度量从根本上限制了可用的致动器功率。虽然快速跳高是一个重要的性能特征，在站姿控制力的能力也出现复杂的行为至关重要。具有最高垂直跳跃敏捷性的动物，Galago（Galago senegalensis），已知使用功率调节策略来获得比单独肌肉更高的峰值功率。以前很少有机器人使用串联弹性功率调制（通过将串联弹性驱动与可变机械效益相结合来实现），并且由于电机功率限制，目前最好的机器人的垂直跳跃敏捷性只有galago的55%。通过使用一个专门的腿机制，旨在提高功率调制，我们构建了一个跳跃机器人，实现了78%的垂直跳跃敏捷的galago。敏捷的机器人可以探索以前无法实现的运动场所。我们演示了这一点与墙跳，机器人从地板上跳到墙上，然后弹离墙壁，达到一个净高度，这是大于通过一个单一的跳跃访问。我们的研究结果表明，串联弹性功率调制是一种驱动策略，使一支垂直敏捷的机器人。
Several arboreal mammals have the ability to rapidly and repeatedly jump vertical distances of 2 m, starting from rest. We characterize this performance by a metric we call vertical jumping agility. Through basic kinetic relations, we show that this agility metric is fundamentally constrained by available actuator power. Although rapid high jumping is an important performance characteristic, the ability to control forces during stance also appears critical for sophisticated behaviors. The animal with the highest vertical jumping agility, the galago (Galago senegalensis), is known to use a power-modulating strategy to obtain higher peak power than that of muscle alone. Few previous robots have used series-elastic power modulation (achieved by combining series-elastic actuation with variable mechanical advantage), and because of motor power limits, the best current robot has a vertical jumping agility of only 55% of a galago. Through use of a specialized leg mechanism designed to enhance power modulation, we constructed a jumping robot that achieved 78% of the vertical jumping agility of a galago. Agile robots can explore venues of locomotion that were not previously attainable. We demonstrate this with a wall jump, where the robot leaps from the floor to a wall and then springs off the wall to reach a net height that is greater than that accessible by a single jump. Our results show that series-elastic power modulation is an actuation strategy that enables a clade of vertically agile robots.