Semi-Passive Walk and Active Walk by One Bipedal Robot: Mechanism, Control and Parameter Identification
Semi-Passive Walk and Active Walk by One Bipedal Robot: Mechanism, Control and Parameter Identification
复制标题
双足机器人的半被动行走和主动行走：机理、控制和参数识别
DOI：
10.1142/s0219843620500127
复制
发表时间：
2020
影响因子：
1.5
通讯作者：
Inaba Masayuki
中科院分区：
文献类型：
--
作者：
Noda Shintaro;Sugai Fumihito;Kojima Kunio;Nguyen Kim-Ngoc-Khanh;Kakiuchi Yohei;Okada Kei;Inaba Masayuki
我们开发了一种双足机器人，配备了刹车和离合器机构，可以改变主动和被动关节的数量，从而实现各种类型的运动，包括使用12自由度关节的正常主动行走，使用刹车的欠驱动行走，以及使用离合器和被动关节的被动行走。在本文中，我们描述了三种实现该系统的技术，并给出了主动和半被动行走的实验结果。第一项技术包括一个小而高强度的离合器机构，以支持真人大小的机器人的巨大重量，使用致动器进行关节和狗离合器控制。第二种技术包括行走控制器，该控制器使用基于仿真的优化技术来考虑被动关节动力学，而不是依赖于逆运动学问题，从而使得能够控制欠驱动腿。最后是模型参数辨识技术，综合考虑人体和地面坡度等环境参数，实现真实世界中不稳定被动行走。据我们所知，该机器人是第一个使用两足动物实现主动行走和被动行走的机器人。这为被动行走技术在主动关节机器人中的应用提供了可能，拓展了被动关节在双足机器人中的应用可能性。
We developed a bipedal robot equipped with brake and clutch mechanisms to change the number of active and passive joints, thereby enabling various types of movements including normal active walking using 12-dof joints, under-actuated walking using brake, and passive-based walking using clutch and passive joints. In this paper, we describe three technologies to achieve the proposed system and show experimental results on active and semi-passive walking. The first technology comprises a small and high-strength clutch mechanism to sustain the massive weight of life-sized robots using actuators for joint and dog clutch control. The second technology comprises a walking controller using a simulation-based optimization technique to consider passive joint dynamics instead of depending on the inverse kinematics problem, thereby enabling the control of the under-actuated leg. The last technology is model parameter identification to achieve unstable passive-based walking in real-world considering the body as well as environmental parameters such as ground slope. To the best of our knowledge, the proposed robot is the first to achieve both active and passive-based walking using a bipedal body. This enables the implementation of the passive-walking technology to active-joint robots and expands the application possibility of passive joint for bipedal robots.