Investigating Series-Parallel Actuation Arrangement in a Bioinspired Biped Robot

2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI:10.1109/ICRAI47710.2019.8967365

Ahmed A. Ansari, Junaid Ahmed, Hamza Arif, Aashir Iqbal, Hamza Asif Nizami, Y. Ayaz

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引用次数: 1

Abstract

A bipedal robot with serial linkage legs having passive energy storage elements distal to the knee in a Series Parallel Elastic Actuation (SPEA) arrangement is presented to demonstrate and experiment on energy input and recovery during energy-intensive low frequency squatting. The robot is based on the hind legs of the Felidae family with bio-inspired linkage ratios and spring locations. The design places special emphasis on reduction of leg inertia by qualitative assessment of placement of heavier components including motors. Natural dynamics of the system are explored by allowing the assembly to fall from a height and observing its passive spring-damping characteristics and oscillatory frequency. The same is also investigated through computational simulations in the absence of real-world constraints such as joint friction. The effects of SPEA at the knee and ankle joint is observed on the ground-reaction force through the simulation environment. An interesting proposal of incorporating an engage-disengage spring at the knee joint is discussed.

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仿生双足机器人串联并联驱动装置的研究

摘要设计了一种双足机器人，采用串联并联弹性驱动(SPEA)方式，在膝关节远端采用串联并联腿的被动能量存储单元，对能量密集低频深蹲的能量输入和恢复进行了演示和实验。该机器人以Felidae家族的后腿为基础，具有仿生连杆比率和弹簧位置。该设计特别强调通过对包括电机在内的较重部件的放置进行定性评估来减少腿部惯性。系统的自然动力学是通过允许组件从一个高度下降，并观察其被动弹簧阻尼特性和振荡频率来探索的。在没有实际约束(如关节摩擦)的情况下，通过计算模拟也进行了同样的研究。通过仿真环境，观察了膝关节和踝关节处SPEA对地反力的影响。一个有趣的建议纳入一个接合-分离弹簧在膝关节进行了讨论。

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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2019 International Conference on Robotics and Automation in Industry (ICRAI)

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