Study on Self-excitation On-Off Drive Controled Hopping Robot without Absolute Position Sensor Arm

本研究开发了一种无绝对位置传感器的微型跳跃机器人。该机由肌肉等弹簧组成的振动系统，由开关驱动控制自激激励，以吸收摄动对运动的影响。飞行的绝对身体位置和速度可以通过内部传感器根据身体和腿之间的相对位置DATA来估计。在着陆瞬间，相对值等于绝对值。机身的绝对位置由着陆时的相对位置值作为基准位置值和下一次飞行运动的相对测量位置之和计算得出。该方案成功地将机床从位置测量传感器臂的约束中解脱出来，实现了柔顺的自由飞行。每次着陆都会更新绝对身体位置的基准值，因此，身体位置误差不会增加，稳态运动可能会继续。在第一次试验中，机器用线性螺线管激励，用双应变片作为内部相对位移传感器来测量它的运动。为了控制方向和姿势，身体通过拉动钢片倾斜，钢片上粘贴了4个辅助腿，用于在身体上放置磁铁。这种机器人根据它的配置和行为被命名为蜘蛛型。实验结果与理论分析结果基本吻合。在跳跃的情况下，在实验装置的条件下找不到理论解，但在实验中证实了这个概念的存在。章鱼式跳跃机器人也将在未来进行研究，以扩大其广泛的应用。

The hopping and jumping miniature robot without an absolute position sensor for the body was developed in this study. The machine is constitued with a vibration system by springs such as muscles, and excited with the on-off drive controled self-excitation for absorbtion of the effect of perturbation on the motion. The flight absolute body position and velocity can be estimated from relative position deta between the body and leg with an internal sensor. In the instant of landing, the relative value equals to the absolute value. The absolute position of the body is calculated by sum of the relative position value at landing as the base position value and the relative measuring position over the next flight motion. This idea had successful in loose the machine from restraint of the position measuring sensor arm, and delivered of the complite free flight body. The base value of the absolute body position is renewed every landing, therfore, the body position error doesn't increase and the steady-state motion must possibly continue. The machine is excited with a linear solenoide and it's motion is measured by twin strain gauges as the internal relative displacement sensor in the 1st trial. For direction and posture control, the body is inclined by draw of steel chips pasted with 4 assistant legs for magnets on the body. This robot was named the spider type based on it's configulation and behavior. The experimental results agreed approximately with results of the theoretical analysis. In the case of jumping, the theoretical solution couldn't be discovered in the conditions of the experimental apparatus, but the existence of the notion was confirmed in experiment. An octopus type hopping robot will also study to expand the widely applications in future.