A study of the effect of structural damping on gait stability in quadrupedal locomotion using a musculoskeletal robot
A study of the effect of structural damping on gait stability in quadrupedal locomotion using a musculoskeletal robot
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DOI：
10.1109/iros.2012.6386256
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发表时间：
2012-12
期刊：
影响因子：
--
通讯作者：
K. Miki;K. Tsujita
中科院分区：
文献类型：
--
作者：
K. Miki;K. Tsujita
本研究报告的可行性研究步态模式的稳定性与可变的身体刚度。腿的周期性运动被生成为有节奏的运动。运动的稳定性很大程度上取决于身体机构的力学性能，特别是关节刚度。在这份报告中，机器人的躯干运动的肌肉张力可以通过使用气动执行器的可变弹性来改变。通过硬件实验，研究了四足步行机器人在爬行、小跑和步速模式下随身体刚度变化的运动稳定性。此外，稳定机制近似为一个简单的双惯性模型，并进行了数值模拟分析。
This study reports on a feasibility study on the stability of gait patterns with changeable body stiffness. The periodic motions of the legs are generated as a rhythmic motion. The stability of locomotion strongly depends on the mechanical properties of the body mechanism, especially joint stiffness. In this report, the muscle tone of the robot's motion at the trunk can be changed by using the changeable elasticity of pneumatic actuators. The stability of quadruped locomotion in crawl, trot and pace patterns with changeable body stiffness was evaluated with hardware experiments. As well, the stabilization mechanism is approximated by a simple two-inertia model and analyzed with numerical simulations.