关节刚度自适应动态双足机器人三种步态的转换

Yan Huang, Liyang Chen, B. Vanderborght, Qining Wang
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引用次数: 1

摘要

本文设计并构造了一种平面动态双足行走机器人,该机器人具有平足和自适应刚度。我们采用MACCEPA作动器,它可以独立控制关节扭矩和关节刚度。基于步态相位相关的刚度控制方法,机器人可以实现三种步态,通过不同步态事件的顺序来区分。在实验中,比较了三种步态的性能,并通过控制关节刚度实现步态转换。本研究为动态双足机器人的自适应刚度运动控制和步态转换原理的研究提供了新的思路。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Transitions of three gaits in dynamic bipedal robot with adaptable joint stiffness
In this paper, we design and construct a planar dynamic bipedal walking robot with flat feet and adaptable stiffness. We employ the MACCEPA actuator, which allows independently control of joint torque and joint stiffness. Based on a gait-phase-dependent stiffness control method, the robot can realize three gaits, distinguished by the sequence of different gait events. In experiments, the performance of the three gaits are compared and gait transitions are realized by controlling joint stiffness. This study may provide insights into motion control of dynamic bipedal robots with adaptable stiffness and the principles of gait transition in bipedal walking.
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