双足机器人变刚度鞋底及其实验验证

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-06-26 DOI:10.1115/1.4062650

Junyeon Namgung, Yun-Ho Han, Baek-Kyu Cho

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引用次数: 0

摘要

摘要双足机器人的脚底是稳定行走的重要因素。在这项研究中，介绍了现有双足机器人鞋底的局限性，并提出了开发一种新的鞋底机构的必要性。受基于颗粒干扰效应的机器人鞋底的启发，我们开发了一种可变刚度鞋底(VSS)，它在柔顺模式下适应地面障碍物的形状，在僵硬模式下提供强大的支撑。最后，将VSS与真实的仿人机器人平台RoK-3相结合，通过多次实验验证了VSS的性能。实验结果验证了VSS在不平坦地形下行走的优越性。

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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A Variable Stiffness Sole for Biped Robot and Its Experimental Verification

Abstract The foot sole of the biped robot is an important factor for stable walking. In this study, the limitations of existing bipedal robot soles are introduced and the necessity for the development of a new sole mechanism is presented. Inspired by a robot sole based on the granular jamming effect, we have developed a variable stiffness sole (VSS), which adapts to the shape of obstacles on the ground in compliant mode and provides robust support in stiff mode. Finally, the performance of the VSS is verified by several experiments integrating the VSS with the real humanoid robot platform RoK-3. The experimental results verified that the VSS is advantageous in uneven terrain walking.

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.