Energy-Efficient and High-speed Dynamic Biped Locomotion Based on Principle of Parametric Excitation
Energy-Efficient and High-speed Dynamic Biped Locomotion Based on Principle of Parametric Excitation
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DOI：
10.1109/tro.2008.2006234
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发表时间：
2008-12-01
影响因子：
7.8
通讯作者：
Luo, Zhi-Wei
中科院分区：
文献类型：
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作者：
Asano, Fumihiko;Luo, Zhi-Wei
通过对被动动态步行机构的研究，阐明了产生动态步态的共同必要条件是恢复机械能的要求。本文提出了一种新的方法，产生一个动态的步态，可以发现在摆动的参数激励的原则，使用伸缩腿驱动的启发机制。首先，我们介绍了一个简单的欠驱动的伸缩腿和半圆脚的机器人模型，并提出了一个法律来控制伸缩腿的运动。我们发现，一个高速动态的双足步态可以很容易地产生仅泵摆动腿质量。然后，我们进行了参数研究，通过调整控制和物理参数，并确定如何以及通过引入一些性能指标的基本步态。通过使用弹性元件效应的能量效率的改进也进行了数值研究。此外，我们从理论上证明，半圆形的脚有一种机制，减少脚跟撞击碰撞所消耗的能量。我们提供的见解在本文中如何零矩点自由机器人可以产生一个新的步态。
We clarified that the common necessary condition for generating a dynamic gait results from the requirement to restore mechanical energy through studies on passive dynamic walking mechanisms. This paper proposes a novel method of generating a dynamic gait that can be found in the mechanism of a swing inspired by the principle of parametric excitation using telescopic leg actuation. We first introduce a simple underactuated biped model with telescopic legs and semicircular feet and propose a law to control the telescopic leg motion. We found that a high-speed dynamic bipedal gait can easily be generated by only pumping the swing leg mass. We then conducted parametric studies by adjusting the control and physical parameters and determined how well the basic gait performed by introducing some performance indexes. Improvements in energy efficiency by using an elastic-element effect were also numerically investigated. Further, we theoretically proved that semicircular feet have a mechanism that decreases the energy dissipated by heel-strike collisions. We provide insights throughout this paper into how zero-moment-point-free robots can generate a novel biped gait.