Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots

Alexander Werner, Wojciech Turlej, C. Ott
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引用次数: 9

Abstract

Series-elastic and viscoelastic robots can provide performance gains in applications with high dynamics. Harnessing these, requires an understanding of the dynamics of the system, which can be gained using optimization-based methods. The result are motions which make optimal use of the intrinsic behavior, possibly exceeding the performance of an equivalent rigid-body robot. We present a collocation framework which enables both automatic computation of contact-switching patterns and allows the full utilization of the dynamics of the compliant system. The formulation also addresses the problem of redundant torque generation in viscoelastic actuators. The effectiveness of this method was demonstrated in simulations as well as experiments with a compliant bipedal robot. The approach is capable of providing gait primitives, longer gait sequences containing multiple steps as well as generating extremely dynamic motions, e.g. somersaults.
串联弹性和粘弹性两足机器人运动轨迹的生成
系列弹性和粘弹性机器人可以在高动态应用中提供性能提升。利用这些,需要了解系统的动态,这可以通过基于优化的方法获得。其结果是运动,使内在行为的最佳利用,可能超过一个等效的刚体机器人的性能。我们提出了一个配置框架,它既可以自动计算接触切换模式,又可以充分利用柔性系统的动力学。该公式还解决了粘弹性作动器中产生冗余转矩的问题。仿真和柔性双足机器人实验验证了该方法的有效性。该方法能够提供步态原语,包含多个步骤的更长的步态序列以及生成极其动态的运动,例如翻筋斗。
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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