Impact forces and mobility in legged robot locomotion
Impact forces and mobility in legged robot locomotion
复制标题
腿式机器人运动中的冲击力和机动性
DOI：
10.1109/aim.2007.4412406
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
A. Bowling
中科院分区：
文献类型：
--
作者：
A. Bowling
本文提出了一种在腿式机器人动力学性能分析中考虑冲击力的方法。这涉及检查当脚与地面发生碰撞时，腿系统如何利用地面接触来产生身体加速度;这些能力被称为其力和加速度能力，它们决定了机器人的敏捷性。这些能力受到致动器扭矩极限和摩擦力的限制。所提出的分析描述了影响的动态性能的影响，所需的摩擦系数，以防止打滑的脚，控制权限/加速度，这是可以实现的，在终止的影响事件。以六足机器人为例说明了该方法。
This article presents a method for including impact forces in the analysis of legged robot dynamic performance. This involves examining how well the legged system uses ground contact to produce acceleration of its body when the feet experience impact with the ground; these abilities are referred to as its force and acceleration capabilities and they determine the robot's agility. These capabilities are bounded by actuator torque limits and friction forces. The proposed analysis describes the effect of an impact event on dynamic performance in terms of the coefficient of friction required to prevent slipping of the feet, and the amount of control authority/acceleration which is achievable, at the termination of the impact event. The method is illustrated using a hexapod as an example.
DOI：
10.1016/0024-3795(81)90106-3
发表时间：
2020-11
期刊：
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影响因子：
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作者：
Tzuong-Tsieng Moh
通讯作者：
Tzuong-Tsieng Moh