Research on smooth and energy-saving walk of biped robot

本课题旨在研究一种节能的双足机器人行走方式。进行了基本的理论思考和若干实验。在理论考虑方面，找出了保持机械协调行走所需的能量。它是一个函数的立场的右/左脚和重心的高度。在实验研究方面，制作了平面双足机器人。它有气缸来产生踢脚运动。气流是根据陀螺仪测量的物体倾角信息，通过调节阀门的开/关定时来控制的。该控制可以实现机构的协调行走，保持机构的自振荡。与着地同步的空气供应无法踢出好球。因此，开发了一种新的方法，在着地前提供空气，并在自机械振荡中自动产生与脚力减少同步的踢腿。步行的能量消耗被证实与预期的一样小…更多。对于最大估计，实验值约为理论值的两倍。这个估计是基于最大限制的，因为实际输出是根据行走的条件而变化的。一个10kg的机器人每0.7秒/步的行走，其具体值最大为1.9瓦特。同时还实现了地形高度变化的控制。通过调节阀门的开启间隔来控制气缸的踢力并稳定机器人的自振荡运动。具体算法的原理如下：利用触觉开关和陀螺仪的触地和倾斜信号，计算出高度变化。采用前馈控制，按高度变化的比例调节阀门开启间隔。提出了一种以左右步循环时间偏差成比例调节阀门开启间隔的反馈控制方法。通过这些控制算法，实验模型可以在左右脚站立300mm的情况下协商20mm的高度变化。少

This research has done to study an energy saving walk of biped robot. Fundamental theoretical considerations and several experiments have done.As for the theoretical considerations, how much energy is required to keep mechanically harmonized walk is found out. It is a function of a stance of right/left foot and a height of the center of gravity.As for the experimental study, planar biped robot is manufactured. It has air cylinders to produce a kicking motion. Air flow is controlled by adjusting an ON/OFF timing of valve based on an information of a body inclination measured by a gyroscope. This control can realize a harmonized walk to keep a self oscillation of the mechanism. An air supply synchronized a touchdown could not make a good kick. Thus, a new method is developed to supply air before the touchdown and automatically produce a kick synchronized with a reduction of the foot force in a self mechanical oscillation.An energy consumption of the walk is confirmed as small as expected … More . For a maximum estimation, the experimental value is about twice as the theoretical value. This estimation is based on a maximum limit, because a real output is varied on the condition of the walk. A concrete value is 1.9 watt maximum for a 0.7sec/step walk of 10kg robot.A control to negotiate a height variation of the terrain is also realized. An open interval of the valve is adjusted to control a kick force of the cylinder and stabilize a self oscillating motion of the robot. A principle of the concrete algorithm is follows : Using a signal of touchdown and inclination by a tactile switch and gyroscope, a height variation is calculated. A feed-forward control to adjust valve open interval by a proportional value of the height variation is done. A feedback control to adjust a valve open interval by a proportional value of the deviation of cycle time of left and right steps is also carried out.By these control algorithms, the experimental model can negotiate a 20mm height variation for 300mm stance of left/right foot. Less