Crawling gait generation method for four-limbed robot based on normalized energy stability margin
Crawling gait generation method for four-limbed robot based on normalized energy stability margin
复制标题
基于归一化能量稳定裕度的四肢机器人爬行步态生成方法
DOI：
10.1109/ssrr.2017.8088167
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
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作者：
T. Matsuzawa;K. Hashimoto;Xiao Sun;Tomotaka Teramachi;S. Kimura;Nobuaki Sakai;Y. Yoshida;Asaki Imai;Kengo Kumagai;Takanobu Matsubara;Koki Yamaguchi;W. Tan;A. Takanishi
本文描述了一种基于归一化能量稳定余量（NESM）的有腿机器人爬行运动步态生成方法。爬行运动是一种运动方法，由于机器人非常接近坠落状态，其腿和躯干交替着地，以使机器人以低重心移动。它的好处是减少了机器人受到的冲击，并降低了机器人摔倒时受损的风险。然而，在只有机器人躯干与地面接触的阶段，机器人的支撑面积比腿与地面接触的情况要小。支撑面积的减少可能会导致机器人在倾斜表面上机器人长方体躯干的边缘提供最大支撑的方向上跌倒或侧翻。因此，机器人的脚在向前移动时可能会与路面发生碰撞，使机器人无法进行爬行运动。为了解决这一问题，我们提出了一种基于稳定性准则的爬行运动步态生成方法。根据稳定性标准，这种方法包括选择一种姿态，它抬起它的躯干，并根据路面的不平整程度控制机器人脚的着陆高度。实验证明，采用该方法的四足机器人在倾斜路面上进行爬行运动时，其稳定性得到了提高。
In this paper, we describe a gait generation method for the crawling motion of a legged robot using Normalized Energy Stability Margin (NESM). The crawling motion is a method of locomotion that, since the robot is very close to a state of falling, its leg and torso are grounded alternately in order to enable the robot to move with a low center of gravity. It has the benefit of decreasing the impact experienced by the robot and reduces the risk of becoming damaged if it falls over. However, during the phase where only the robot's torso is in contact with the ground, the size of robot's support area is smaller than the case when its legs are in contact with the ground. This decrease in support area may cause the robot to fall or tip over sideways in the direction where the edge of robot's cuboid torso is providing the most support on an inclined surface. As a result, the robot's feet may collide with the road's surface when its legs are moving forward and prevent the robot from performing its crawling motion. To deal with this problem, we propose a method of gait generation for the crawling motion based on a stability criteria. Depending on the stability criteria, this method involves the selection of a stance, with which it lifts its torso and a way of controlling the landing height of the robot's feet depending on the unevenness of the surface of the road. In experiments, it has been confirmed that stability was improved when the four-limbed robot performed the crawling motion using the proposed method on an inclined road surface.
通用肢体结构救灾机器人研制及垂直梯攀爬实验
DOI：
--
发表时间：
2015
期刊：
影响因子：
--
作者：
Takashi Matsuzawa;Kenji Hashimoto;Xiao Sun;Kazuhiro Uryu;Ayanori Koizumi;Shinya Hamamoto;Tomotaka Teramachi and Atsuo Takanishi
通讯作者：
Tomotaka Teramachi and Atsuo Takanishi