Design of a Quasi-Passive Dynamic Walking Robot Based on Anatomy Trains Theory

Pub Date : 2024-04-20 DOI:10.20965/jrm.2024.p0458
Hiroki Nishii, Shoei Hattori, Akira Fukuhara, Hisashi Ishihara, Takeshi Kano, Akio Ishiguro, Koichi Osuka
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Abstract

Dynamic human movements are achieved by appropriate constraints on the degrees of freedom of the complex and flexible human body. The anatomy trains (ATs) theory explains such constraints with whole-body muscular connections called ATs. This paper proposes the design of a quasi-passive dynamic walker with whole-body viscoelastic connections inspired by the ATs theory and investigates the contributions of these long-distance connections to the achievement of gait. We designed a biped robot with a trunk and head, whose passive joints were supported by rubber fiber bands. The robot, named “PEARL III,” is equipped with an antagonistic pair of McKibben pneumatic actuators for each leg at the human hamstring and rectus femoris positions. The most important feature of this robot is that fabric wires mechanically connect its rubber bands and actuators on the back side from the head to the foot, modeled after one of the human ATs, the superficial back lines (SBLs). In an experiment, PEARL III achieved 2D quasi-passive dynamic walking on an inclined plane by contracting and relaxing its actuators using periodic feedforward control. This result suggests that in both the robot and human cases, when a controller contracts the SBL only in the stance phase during passive dynamic walking, the SBL can achieve whole-body posture control and weight support. In addition, the SBL appears to achieve this function depending on their mode of attachment to bones and the presence or absence of antagonistic muscles (or ATs). In the future, by introducing various ATs into robots while recognizing the importance of the appropriate attachment of ATs and the presence of their antagonistic muscles (or ATs), we can expect similar effects in various 3D movements.
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基于解剖列车理论设计准被动动态行走机器人
人体的动态运动是通过对复杂而灵活的人体自由度的适当限制来实现的。解剖列车(ATs)理论通过称为 ATs 的全身肌肉连接来解释这种约束。本文受 ATs 理论启发,提出设计一种具有全身粘弹性连接的准被动动态步行器,并研究了这些长距离连接对实现步态的贡献。我们设计了一种带有躯干和头部的双足机器人,其被动关节由橡胶纤维带支撑。该机器人被命名为 "PEARL III",每条腿都装有一对麦基本气动执行器,分别位于人体腿筋和股直肌的位置。该机器人的最大特点是,仿照人类运动神经元之一的背浅线(SBLs),在从头部到脚部的背面用织物线机械地连接橡皮筋和致动器。在一项实验中,PEARL III 通过使用周期性前馈控制来收缩和放松致动器,实现了在倾斜平面上的二维准被动动态行走。这一结果表明,在机器人和人类的情况下,当控制器仅在被动动态行走的站立阶段收缩 SBL 时,SBL 可以实现全身姿势控制和重量支撑。此外,SBL 实现这一功能似乎取决于它们与骨骼的连接方式以及是否存在拮抗肌肉(或 AT)。未来,通过在机器人中引入各种运动辅助器械,同时认识到运动辅助器械的适当附着及其拮抗肌肉(或运动辅助器械)存在的重要性,我们可以期待在各种三维运动中产生类似的效果。
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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