Dynamic modeling, analysis, and comparative study of a quadruped with bio-inspired robotic tails
Dynamic modeling, analysis, and comparative study of a quadruped with bio-inspired robotic tails
复制标题
仿生机器人尾部四足动物的动态建模、分析与比较研究
DOI：
10.1007/s11044-020-09764-8
复制
发表时间：
2021
影响因子：
3.4
通讯作者：
Ben-Tzvi, Pinhas
中科院分区：
文献类型：
--
作者：
Liu, Yujiong;Ben-Tzvi, Pinhas
从自然界来看，动物经常利用尾巴与腿一起工作或代替它们的腿来操纵、稳定和/或推进以实现高度敏捷的运动。虽然单连杆机器人尾翼在移动的平台机动中显示出其动力学优越性和实用性，但在自然界中观察到的大多数尾翼都是多连杆结构。因此，为了研究这种新颖的尾部结构，提出并实现了仿生和仿生多连杆机器人尾部。然而，由于缺乏一个完整的动力学模型，以往的研究主要集中在尾部子系统的独立研究，而没有考虑移动的平台的运动，这在分析和控制方面都存在不足。为了弥合这一理论差距，本文提出了一个统一的动力学模型，将四足和尾巴子系统作为一个完整的耦合动力学系统。采用基于虚功原理的经典多体动力学方程建立了系统的动力学模型。基于新的整体动力学模型，评估了三种典型的尾翼结构，包括单连杆摆尾、多连杆刚性尾翼和多连杆柔性尾翼。结果表明，采用质心基准，多连杆尾翼结构与单连杆尾翼结构在弯曲运动下动力学等效。然而，对于滚动运动，由于其较高的惯性，与单连杆结构相比，多连杆结构示出了显著的动力学益处。此外，多连杆柔性结构由于其欠驱动特性而表现出显著的振荡和不可控的动态行为，这可能限制其在高动态应用中的使用。
Looking to nature, animals frequently utilize tails to work alongside or in place of their legs to maneuver, stabilize, and/or propel to achieve highly agile motions. Although the single-link robotic tail shows its dynamical superiority and practical effectiveness in mobile platform maneuvering, most tails observed in nature have multi-link structures. Therefore, to investigate this novel tail structure, bio-inspired and biomimetic multi-link robotic tails were proposed and implemented. However, due to the lack of a whole-body dynamic model, previous research focused on investigating the tail subsystem independently without considering the mobile platform’s motions, which introduces deficiencies on both analysis and control. To bridge this theoretical gap, this paper presents a unified dynamics model that incorporates both the quadruped and the tail subsystems as a complete coupled dynamic system. Classical multibody dynamics formulation based on the principle of virtual work is utilized to derive the dynamic model. Based on the new whole-body dynamic model, three typical tail structures, including a single-link pendulum tail, a multi-link rigid tail, and a multi-link flexible tail are evaluated. The results indicate that by using a center of mass-based benchmark, the multi-link tail structure is dynamically equivalent to the single-link tail structure for bending motion. However, for rolling motions, the multi-link structure illustrates noticeable dynamical benefits compared to a single-link structure due to its higher inertia. In addition, a multi-link flexible structure shows significant oscillations and uncontrollable dynamic behaviors due to its under-actuation feature, which may limit its usage for highly dynamic applications.
登录
查看更多内容
DOI：
10.1115/1.4044067
发表时间：
2019-10-01
影响因子：
2.6
作者：
Liu, Yujiong;Wang, Jiamin;Ben-Tzvi, Pinhas
通讯作者：
Ben-Tzvi, Pinhas
DOI：
10.1002/jez.1948
发表时间：
2015-10
期刊：
Journal of experimental zoology. Part A, Ecological genetics and physiology
影响因子：
--
作者：
J. Young;G. Russo;C. Fellmann;Meena Thatikunta;Brad A. Chadwell
通讯作者：
J. Young;G. Russo;C. Fellmann;Meena Thatikunta;Brad A. Chadwell
利用虚拟工作原理对带有机器人尾巴的四足动物进行动态建模
DOI：
--
发表时间：
2018
期刊：
Volume 5B: 42nd Mechanisms and Robotics Conference
影响因子：
--
作者：
Yujiong Liu;Pinhas Ben
通讯作者：
Pinhas Ben
具有通用空间机器人尾部的双足机器人的操纵和稳定控制
影响因子：
3.4
作者：
W. Rone;Yujiong Liu;Pinhas Ben
通讯作者：
Pinhas Ben
DOI：
10.1115/1.4045842
发表时间：
2020-04-01
影响因子：
2.6
作者：
Liu, Yujiong;Ben-Tzvi, Pinhas
通讯作者：
Ben-Tzvi, Pinhas