Pre-Landing Control for a Legged Robot Based on Tiptoe Proximity Sensor Feedback
Pre-Landing Control for a Legged Robot Based on Tiptoe Proximity Sensor Feedback
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DOI：
10.1109/access.2022.3153127
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发表时间：
2022
期刊：
影响因子：
3.9
通讯作者：
Ryuki Sato;Hikaru Arita;A. Ming
中科院分区：
文献类型：
--
作者：
Ryuki Sato;Hikaru Arita;A. Ming
腿式机器人接触地面的那一刻，它的脚趾尖会受到很大的冲击力。最好保持较小的着陆冲击力，因为它会导致机器人腿的框架、电机、齿轮和其他部件的不平衡和损坏。在本文中，我们提出了一种控制方法，以减轻着陆冲击力的初步运动的基础上接近信息的脚尖在着陆前。接近传感器安装在脚尖上以在着陆前检测地面，并根据传感器输出施加反馈控制以减小冲击力。在着陆实验中，使用一条腿的机器人配备了接近传感器的脚尖，我们评估的影响，改变传感器的偏移距离和反馈增益的冲击力缓解。结果表明，采用所提出的接近度反馈控制方法，通过减小脚尖与地面的相对速度，减轻了着陆冲击力。
The moment a legged robot touches the ground, the tip of its toe can experience a significant impact force. It is preferable to keep the landing impact force small because it causes imbalance and damage to the frame, motors, gears, and other components of the robot legs. In this paper, we propose a control method to mitigate the landing impact force by preliminary motion based on the proximity information of the tiptoe before landing. A proximity sensor is mounted on the tiptoe to detect the ground before landing, and feedback control is applied according to the sensor output to reduce the impact force. In landing experiments using a one-legged robot equipped with a proximity sensor on a tiptoe, we evaluated the effects of changing the sensor offset distance and the feedback gains on impact force mitigation. The results show that the landing impact force was mitigated by reducing the relative velocity of the tiptoe and the ground using the proposed proximity feedback control.