Overcoming hurdles – efficiency and performance on two legs

克服障碍——两条腿的效率和表现

• 批准号: 416912124
• 负责人: Professor Dr.-Ing. Alexander Fidlin
• 金额: --
• 依托单位: Bereich Dynamik / Mechatronik
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/416912124?language=en
• 关键词: Overcoming; hurdles; efficiency; performance; two

In technical bipedal robots, the system's natural dynamics can be adjusted to achieve high energy efficiency by tuning mechanical components of the system, such as springs and dampers in the form of compliant mechanisms. The increased efficiency allows for the use of smaller actuators, which further reduces losses in the drivetrains. However, due to this downsizing, such highly specialized systems cannot perform movements like jumps, which require very high power for a short time. High jumps and long jumps, however, are fundamental movements for bipedal walking systems that are supposed to overcome obstacles. However, these jumping movements occur only sporadically. Hence, the required power for them can be provided once by discharging a mechanical energy store (preloaded springs). Since compliant mechanisms are already integrated into the robot system in order to optimize the natural dynamics, the aim is to use them as an energy store when performing jumps. Walking systems that use compliant mechanisms both to optimize the natural dynamics and efficiency of walking and as energy storage for high-performance jumps are not known from the literature. Therefore, the goal of the proposed project is to provide the scientific basis that will advance the integration and design of compliant mechanisms for both walking efficiency and jump performance. To this end, the compliant mechanisms will specifically use nonlinear characteristics to passively or semi-actively switch between different operating modes during operation. The movements of a bipedal walker are investigated in a model-based manner. The compliant mechanisms are described by kinematic and dynamic models. A motion model of the bipedal walker that includes compliant mechanisms is used on the one hand as a basis for simulations for the development and optimization of the overall system; on the other hand, it is the basis for upgrading and controlling an existing prototype on which the developed mechanisms are validated. The application of the results is possible where energy-efficient walking and overcoming obstacles is considered a prerequisite, for example in extra-terrestrial walking systems or in long rescue missions. In addition, the methods can be used to realize new characteristics and to switch between them economically (preferably without energy). The results of the investigation to be obtained can be used for other technical systems where new complex characteristic curves and the ability to switch from one characteristic curve to another, especially in an energy-free way, are required.

在技术双足机器人中，系统的自然动力学可以通过调整系统的机械部件来实现高能效，例如柔性机构形式的弹簧和阻尼器。效率的提高允许使用更小的执行器，这进一步减少了传动系统的损耗。然而，由于这种缩小，这种高度专业化的系统不能执行像跳跃这样的动作，这需要在短时间内提供非常高的能量。然而，跳高和跳远是两足行走系统克服障碍的基本动作。然而，这些跳跃动作只是偶尔发生。因此，它们所需的动力可以通过释放机械能量存储（预加载弹簧）一次提供。由于顺应机制已经集成到机器人系统中，以优化自然动力学，目标是在执行跳跃时将它们用作能量存储。从文献中还不知道步行系统使用兼容的机制来优化步行的自然动力学和效率，并作为高性能跳跃的能量存储。因此，该项目的目标是为推进步行效率和跳跃性能的柔性机构的集成和设计提供科学依据。为此，柔性机构将专门利用非线性特性在运行过程中被动或半主动地在不同的工作模式之间切换。以基于模型的方式研究了两足步行器的运动。柔性机构由运动学和动力学模型来描述。包括柔性机构的两足步行器的运动模型一方面被用作整个系统开发和优化的仿真基础；另一方面，它是升级和控制现有原型的基础，开发的机制在此基础上得到验证。在认为节能行走和克服障碍是先决条件的地方，例如在地外行走系统或长期救援任务中，可以应用这些结果。此外，这些方法可以用来实现新的特性，并经济地在它们之间切换（最好不需要能源）。所获得的研究结果可用于其他技术系统，其中需要新的复杂特性曲线和从一种特性曲线切换到另一种特性曲线的能力，特别是以无能量的方式。