Modeling and numerical analysis of Kangaroo lower body based on constrained dynamics of hybrid serial–parallel floating-base systems

IF 4.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2024-10-09 DOI:10.1016/j.robot.2024.104827

Enrico Mingo Hoffman , Andrea Curti , Narcis Miguel , Sai Kishor Kothakota , Alberto Molina , Adria Roig , Luca Marchionni

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引用次数: 0

Abstract

This paper presents the modeling and numerical analysis of the Kangaroo lower body prototype, a novel bipedal humanoid robot developed and manufactured by PAL Robotics. Kangaroo features high-power linear electric actuators combined with unique serial–parallel hybrid chains, which allow for the positioning of all the leg actuators near the base of the robot to improve the overall mass distribution. To model and analyze such complex nonlinear mechanisms, we employ a constrained formulation that is extended to account for floating-base systems in contact with the environment. A comparison is made to demonstrate the significant improvements achieved with TALOS, another humanoid bipedal robot designed by PAL Robotics, in terms of equivalent Cartesian inertia at the feet and centroidal angular momentum. Finally, the paper includes numerical experiments conducted through simulation and preliminary tests performed on the actual Kangaroo platform.

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基于串并联混合浮动基座系统约束动力学的袋鼠下半身建模与数值分析

本文介绍了袋鼠下半身原型的建模和数值分析，袋鼠下半身原型是由 PAL 机器人公司开发和制造的新型双足仿人机器人。Kangaroo 采用大功率线性电动致动器，结合独特的串并联混合链，使所有腿部致动器都位于机器人底部附近，从而改善了整体质量分布。为了对这种复杂的非线性机制进行建模和分析，我们采用了一种约束公式，并对其进行了扩展，以考虑与环境接触的浮动基座系统。通过与 PAL Robotics 公司设计的另一款仿人双足机器人 TALOS 进行比较，证明了在脚部等效笛卡尔惯性和中心角动量方面取得的显著改进。最后，论文包括通过模拟进行的数值实验和在实际袋鼠平台上进行的初步测试。

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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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.