Thrust control, stabilization and energetics of a quadruped running robot
Thrust control, stabilization and energetics of a quadruped running robot
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DOI：
10.1177/0278364908097063
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发表时间：
2008-10-01
影响因子：
9.2
通讯作者：
Waldron, Kenneth J.
中科院分区：
文献类型：
--
作者：
Estremera, Joaquin;Waldron, Kenneth J.
为了实现动力自主运行机器人，它是必不可少的，以开发高效的致动器系统，特别是用于产生的径向推力的腿。此外，控制腿部的径向推力可以是稳定跑步步态中身体俯仰的简单有效的方法。本文介绍了机械系统，模型和控制策略，用于产生和控制腿推力在KOLT四足跑步机器人。为了评估电动气动腿推进系统的性能，并便于控制策略的设计，提出并分析了电动气动腿推进系统的分析模型。已经进行了几个实验，以估计能量损失，并确定其来源，以及计算的驱动系统的能量效率。提出了两种推力控制方法，并进行了实验验证。闭环方法通过控制臀部离地速度来调节推力，这是一种概念上简单的控制策略，即使在不规则的地形上，也可以在不需要中央反馈的情况下稳定pronk和trot步态中的身体俯仰。开环控制方法根据执行器系统的模型调节每跳中添加的能量。在几个平面快步和普龙克实验中测试了这些模型和技术的有效性，并分析了结果，重点是身体稳定性，功率消耗和能量效率。
In order to achieve powered autonomous running robots it is essential to develop efficient actuator systems, especially for generating the radial thrust in the legs. In addition, the control of the radial thrust of the legs can be a simple, effective method for stabilizing the body pitch in a running gait. This paper presents the mechanical systems, models and control strategies employed to generate and control leg thrust in the KOLT quadruped running robot. An analytical model of the electro-pneumatic leg thrusting system is presented and analyzed to evaluate its performance and to facilitate the design of control strategies. Several experiments have been conducted to estimate the energy losses and determine their origins as well as to compute the energetic efficiency of the actuation system. Two thrust control methods are also proposed and tested experimentally. The closed loop method regulates thrust through the control of the hip liftoff speed, a conceptually simple control strategy that stabilizes the body pitch in pronk and trot gaits without the need for central feedback, even on irregular terrain. The open-loop control method regulates the energy added in each hop based on the model of the actuator system. The efficacy of these models and techniques is tested in several planar trot and pronk experiments, and the results are analyzed focusing on the body stabilization, the power consumption and the energetic efficiency.