Optimized Jumping of an Articulated Robotic Leg

Junjie Shen, Yeting Liu, Xiaoguang Zhang, D. Hong
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引用次数: 6

Abstract

This paper proposes a nonlinear programming (NLP) formulation intended for the trajectory optimization of legged robot jumping applications during the stance phase, taking into consideration the detailed robot model, actuator capability, terrain condition, etc. The method is applicable to a wide class of jumping robots and was successfully implemented on an articulated robotic leg for jumping in terms of maximum reachable height, minimum energy consumption, as well as optimum energy efficiency. The simulation and experimental results demonstrate that this approach is capable of not only planning one single jumping trajectory, but also designing a periodic jumping gait for legged robots.
铰接机器人腿的优化跳跃
本文提出了一种考虑机器人详细模型、作动器性能、地形条件等因素的非线性规划(NLP)公式,用于腿式机器人跳跃应用在站立阶段的轨迹优化。该方法适用于各种类型的跳跃机器人,并成功地在关节机器人腿上实现了最大可达高度、最小能量消耗和最佳能量效率。仿真和实验结果表明,该方法不仅能够规划单个跳跃轨迹,而且能够设计出有腿机器人的周期性跳跃步态。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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