Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot
Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot
复制标题
DOI：
10.1088/1748-3190/ab295b
复制
发表时间：
2019-01
影响因子：
3.4
通讯作者：
Neel Doshi;Kaushik Jayaram;Samantha Castellanos;S. Kuindersma;R. Wood
中科院分区：
文献类型：
--
作者：
Neel Doshi;Kaushik Jayaram;Samantha Castellanos;S. Kuindersma;R. Wood
驱动、感知和计算方面的限制迫使小腿机器人依靠精心调整的机械调节腿部轨迹来进行有效的运动。然而，最近在制造方面的进步使得这种机器人能够使用多自由度腿部轨迹以多个步频操作。本体感知和控制是将这些机器人的能力扩展到广泛的操作条件的关键。在这项工作中，我们使用伴随传感的压电驱动和一个计算有效的框架来估计和控制四足微型机器人的腿轨迹。我们展示了在跨宽跨步频率范围(10赫兹-50赫兹)的移动过程中，准确的位置估计(<；16均方根误差)和控制(<；16均方根跟踪误差)。这种能力使得能够探索两个受生物启发的参数腿部轨迹，旨在减少腿部打滑和提高运动性能(例如速度、运输成本(COT)等)。使用这种方法，我们演示了在步频(10赫兹-30赫兹)下的高性能运动，在这种情况下，机器人的自然动力学导致较差的开环运动。此外，我们验证了启发轨迹的生物学假说，并确定了高动力运动、低COT(3.33)和最小腿部滑移(<；10%)的区域。
Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled in such robots the ability for operation at multiple stride frequencies using multi-degree-of-freedom leg trajectories. Proprioceptive sensing and control is key to extending the capabilities of these robots to a broad range of operating conditions. In this work, we use concomitant sensing for piezoelectric actuation with a computationally efficient framework for estimation and control of leg trajectories on a quadrupedal microrobot. We demonstrate accurate position estimation (<16 root-mean-square error) and control (<16 root-mean-square tracking error) during locomotion across a wide range of stride frequencies (10 Hz–50 Hz). This capability enables the exploration of two bioinspired parametric leg trajectories designed to reduce leg slip and increase locomotion performance (e.g. speed, cost-of-transport (COT), etc). Using this approach, we demonstrate high performance locomotion at stride frequencies (10 Hz–30 Hz) where the robot’s natural dynamics result in poor open-loop locomotion. Furthermore, we validate the biological hypotheses that inspired the trajectories and identify regions of highly dynamic locomotion, low COT (3.33), and minimal leg slippage (<10%).