Leg Mechanics for Dynamic Locomotion

动态运动的腿部力学

• 批准号: 1462555
• 负责人: Ross Hatton
• 金额: $ 38.52万
• 依托单位: Oregon State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-08-15 至 2019-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1462555&HistoricalAwards=false
• 关键词: Leg; Mechanics; Dynamic; Locomotion

This research moves towards walking and running robots that will meet and exceed the agility, efficiency, and robustness of human walking and running. Specifically, the research will address fundamental principles behind the physical design of legs, including describing configurations of joints, springs, and other components to best enable legged locomotion. This work falls within a broad, interdisciplinary effort to understand leg function and dynamics, and will have utility and impact among the robotics, dynamics, and biomechanics communities. The foundational design guidelines initiated here will enable robots that can go anywhere that animals and humans go, and many places they cannot, such as nuclear power plant disaster areas and burning buildings. The same foundation will enable prosthetic limbs and exoskeletons that match the natural dynamics of a human leg, while running all day on a single battery charge. This research will enhance understanding of the interaction between the design of a legged system and its dynamics during touchdown, stance, and swing, focusing on three key aspects of the design: First, the inertia distribution in the leg, with an emphasis on how mass placement, number of links, and "redundant" elements of leg kinematics (such as pointing the knee "up" or "down") contribute to the impact felt by the system at touchdown and the dynamics during swing phase. Second, the motor coupling to the linkages, focusing on how different mappings between actuation and mechanism degrees of freedom can lead to the motors either sharing loads or fighting against each other. Third, spring function and placement, including desirable nonlinearities for mitigation of impacts and swing-phase ringing, alignment of principle stiffness axes with mechanism degrees of freedom, and transmissions that allow for configuration-dependent elasticity. The research approach draws on examples from biology and previously constructed robots, utilizes mathematical tools from applied mechanics, and builds on prior work with experimental walking and running robots.

这项研究朝着步行和跑步机器人迈进，这些机器人将达到并超过人类步行和跑步的敏捷性，效率和稳健性。具体而言，该研究将介绍腿部物理设计背后的基本原理，包括描述关节，弹簧和其他组件的配置，以最好地实现腿部的运动。这项工作属于了解腿部功能和动态的广泛，跨学科的努力，并将在机器人技术，动力学和生物力学社区中产生实用性和影响。这里启动的基本设计指南将使动物和人类所能走到的任何地方以及他们无法走的任何地方，例如核电植物灾区和燃烧建筑物。相同的基础将使假肢和外骨骼与人腿的自然动态相匹配，同时全天以一次电池充电。 This research will enhance understanding of the interaction between the design of a legged system and its dynamics during touchdown, stance, and swing, focusing on three key aspects of the design: First, the inertia distribution in the leg, with an emphasis on how mass placement, number of links, and "redundant" elements of leg kinematics (such as pointing the knee "up" or "down") contribute to the impact felt by the system at touchdown and the dynamics during swing 阶段。 其次，电动机耦合到链接，重点关注驱动和机制自由度之间的不同映射如何导致电动机分担负载或相互抗争。 第三，春季功能和位置，包括用于缓解冲击和挥杆循环的理想的非线性，原理刚度轴对机制的比对，以及允许依赖构型弹性的传输。 该研究方法借鉴了生物学和以前构建的机器人的示例，利用了应用机械师的数学工具，并以实验性步行和跑步机器人为基础。