A biped locomotion strategy for the quadruped robot Sony ERS-210
A biped locomotion strategy for the quadruped robot Sony ERS-210
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四足机器人索尼 ERS-210 的双足运动策略
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
D. Nardi
中科院分区：
文献类型：
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作者：
F. Zonfrilli;G. Oriolo;D. Nardi
我们描述了机器人索尼 ERS-210 (AIBO) 的双足运动策略的设计和实现。该机器人是为四足步态设计的，有一些限制，使得双足运动成为一项具有挑战性的任务，例如被动脚、直立姿势的重心较高以及相对较弱的执行器。因此，我们选择充分利用双支撑阶段，即机器人双脚着地，以获得执行单支撑阶段的正确起飞条件。在后者期间，机构运动基本上不受控制，但可以使用简单的等效机械系统进行预测和规划。模拟和实验结果都显示了我们研究的积极成果。
We describe the design and implementation of a biped locomotion strategy for the robot Sony ERS-210 (AIBO). Being designed for quadruped gaits, this robot has several limitations which make biped locomotion a challenging task, such as passive feet, a high barycenter in the erect posture, and relatively weak actuators. We have therefore chosen to fully exploit the double support phase, in which the robot has both feet on the ground, in order to achieve the correct take-off conditions for performing the single support phase. During the latter, the mechanism motion is essentially uncontrolled but can be predicted and planned using a simple equivalent mechanical system. Both simulation and experimental results show the positive outcome of our study.