A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection
A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection
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DOI：
10.1109/robosoft48309.2020.9116040
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
Wei-Hsi Chen;Shivangi Misra;J. Caporale;D. Koditschek;Shu Yang;C. Sung
中科院分区：
文献类型：
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作者：
Wei-Hsi Chen;Shivangi Misra;J. Caporale;D. Koditschek;Shu Yang;C. Sung
我们报告了一个笔记本电脑大小（0.23米，2.53公斤）的折纸机器人的实验，该机器人在特定阻力0(1)下以超过1.5 bl/s（每秒体长）的速度跳跃，同时在数千次循环中达到高于姿态高度25%的空中相位顶点状态，表现出高度动态和稳定的两个自由度（圆臂）。三个传统的无刷直流电动机通过滑轮承载的电缆将能量加载到折叠的纸弹簧中，在着陆时突然失去张力，触发弹簧势能的释放，以20W的动力冲程加速身体从起飞到飞行，然后调整脚趾角度来调节前后速度。在垂直跳跃模式下，我们还通过仅使用电机编码器感知的本体感觉接触检测来证明该驱动方案的透明性。驱动和传感的结合显示了降低肌腱驱动机器人系统复杂性的潜力。
We report on experiments with a laptop-sized (0.23m, 2.53kg), paper origami robot that exhibits highly dynamic and stable two degree-of-freedom (circular boom) hopping at speeds in excess of 1.5 bl/s (body-lengths per second) at a specific resistance O(1) while achieving aerial phase apex states 25% above the stance height over thousands of cycles. Three conventional brushless DC motors load energy into the folded paper springs through pulley-borne cables whose sudden loss of tension upon touchdown triggers the release of spring potential that accelerates the body back through liftoff to flight with a 20W powerstroke, whereupon the toe angle is adjusted to regulate fore-aft speed. We also demonstrate in the vertical hopping mode the transparency of this actuation scheme by using proprioceptive contact detection with only motor encoder sensing. The combination of actuation and sensing shows potential to lower system complexity for tendon-driven robots.