Vertical Jumping by a Legged Robot With Upper and Lower Leg Bi-Articular Muscle-Tendon Complexes
Vertical Jumping by a Legged Robot With Upper and Lower Leg Bi-Articular Muscle-Tendon Complexes
复制标题
具有上下腿双关节肌腱复合体的腿式机器人垂直跳跃
DOI：
10.1109/lra.2021.3099226
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发表时间：
2021
影响因子：
5.2
通讯作者：
Ming Aiguo
中科院分区：
文献类型：
--
作者：
Sato Ryuki;Hiasa Shuma;Wang Lei;Liu Huaxin;Meng Fei;Huang Qiang;Ming Aiguo
动物腿上的双关节肌肉-肌腱复合体（MTC）可以在相邻的关节之间传递机械力，并在脚趾处施加大的力。它能够在运动过程中有效地储存和释放弹性能量。在我们之前的研究中，我们提出了双关节MTC的机制，以实现腿的上下部分的延伸，并通过实验证明每种机制都允许有腿机器人进行更高的跳跃运动。在本研究中，我们开发了一个仿生腿机器人，通过整合上下腿双关节mtc，并研究了它们的协同利用对提高垂直跳跃能力的影响。基于仿生腿机器人的双关节mtc动力学模型，通过优化生成跳跃运动轨迹，使其跳跃能力最大化。比较了带和不带双关节mtc模型的仿真结果。最后，通过实现生成的运动轨迹进行跳跃实验，证实了双关节mtc的协同利用提高了跳跃能力。
The bi-articular muscle–tendon complex (MTC) in an animal's leg allows a transfer of mechanical power between adjacent joints and exertion of a large force at the toes. It is capable of storing and releasing elastic energy efficiently during motions. In our previous studies, we proposed mechanisms of the bi-articular MTC for achieving extension of the upper and lower parts of the leg and experimentally demonstrated that each mechanism allows the higher jumping motion of a legged robot. In this study, we developed a bio-inspired legged robot by integrating the upper and lower leg bi-articular MTCs and investigated the effect of their cooperative utilization on the improvement of the vertical jumping ability. A jumping motion trajectory was generated through optimization to maximize the jumping ability based on a dynamic model of the bio-inspired legged robot with these bi-articular MTCs. The simulation results of the models with and without bi-articular MTCs were compared. Finally, through jumping experiments performed by implementing the generated motion trajectory, it was confirmed that the jumping ability was improved by the cooperative utilization of those bi-articular MTCs.