Passive periodic motion of an asymmetric spring loaded inverted pendulum hopping robot

IF 0.3 4区工程技术 Q4 ENGINEERING, MULTIDISCIPLINARY

Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria Pub Date : 2023-01-01 DOI:10.23967/j.rimni.2023.01.002

Y. Ni, X. Meng

引用次数: 0

Abstract

For improving the energy efficiency of hopping robot, an asymmetric spring loaded inverted pendulum hopping model with leg mass is considered. The period orbit problem of two-legged hopping robot is investigated. Firstly, the hybrid dynamic model is constructed. Then the passive hopping gaits are found using quasi-newton optimization method. Secondly, a PD controller is implemented to track the desired pitch trajectory of the body. Through applying control during stance phase, period orbits of the robot with offset body mass is obtained. Finally, the effect of the location of the leg mass and the body mass on hopping performances is investigated.

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非对称弹簧载荷倒立摆跳跃机器人的被动周期运动

为了提高跳跃机器人的能量效率，考虑了具有腿质量的非对称弹簧载荷倒立摆跳跃模型。研究了两足跳跃机器人的周期轨道问题。首先，建立了混合动力模型。然后用拟牛顿优化方法求出无源跳跃步态。其次，实现了PD控制器来跟踪目标体的俯仰轨迹。通过在姿态阶段施加控制，得到了具有偏置质量的机器人的周期轨道。最后，研究了腿质量和身体质量的位置对跳跃性能的影响。

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

Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria 工程技术-工程：综合

CiteScore

0.70

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： International Journal of Numerical Methods for Calculation and Design in Engineering (RIMNI) contributes to the spread of theoretical advances and practical applications of numerical methods in engineering and other applied sciences. RIMNI publishes articles written in Spanish, Portuguese and English. The scope of the journal includes mathematical and numerical models of engineering problems, development and application of numerical methods, advances in software, computer design innovations, educational aspects of numerical methods, etc. RIMNI is an essential source of information for scientifics and engineers in numerical methods theory and applications. RIMNI contributes to the interdisciplinar exchange and thus shortens the distance between theoretical developments and practical applications.