Stable one-legged hopping without feedback and with a point foot
Stable one-legged hopping without feedback and with a point foot
复制标题
稳定的单腿跳跃，无反馈且尖脚
DOI：
10.1109/robot.2002.1014354
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
J. Schlöder
中科院分区：
文献类型：
--
作者：
K. Mombaur;R. Longman;H. Bock;J. Schlöder
我们提出了二维独脚架，能够在没有任何反馈的情况下进行稳定的周期性跳跃运动。结果表明，自稳定不需要大的脚半径，即使具有尖脚的单腿机器人也可以执行开环稳定运动，尽管它们没有静态稳定的站立位置。开环稳定性的概念意味着执行器接收纯粹周期性的扭矩或力输入，这些输入永远不会因任何反馈而改变，以防止机器人跌倒。该机器人由环形体和腿组成，它们通过扭矩驱动的铰链连接。腿在可调节弹簧上弹跳。这些机器人的设计以及导致稳定运动的模型参数值的选择是一项艰巨的任务，但已经使用新开发的稳定性优化方法完成了这项任务。
We present two-dimensional monopods that are capable of stable periodic hopping motions without any feedback. It is shown that a large foot radius is not necessary for self-stabilization and that even one-legged robots with a point foot can perform open-loop stable motions although they have no statically stable standing position. The concept of open-loop stability implies that the actuators receive purely periodic torque or force inputs that are never altered with any feedback to prevent the robot from falling. The robots consist of a toroidal body and a leg that are connected by a hinge powered by a torque. The leg bounces on an adjustable spring. The design of these robots and the choice of model parameter values leading to stable motions is a difficult task that has been accomplished using newly developed stability optimization methods.