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Dynamic Period-two Gait Generation in a Hexapod Robot based on the Fixed-point Motion of a Reduced-order Model

机译:基于降阶模型定点运动的六足机器人动态第二周期步态生成

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This research explored the generation of period-two dynamic running motion in a robot, based on the passive dynamic period-two motion of the reduced order, rolling spring-loaded inverted pendulum (R-SLIP) model. Each cycle of period-two motion consists of two stance phases separated by two flight phases. The distribution of the period-two fixed points of the model was analyzed using a return map. Models with the same or different landing angles per motion cycle were studied, and two sets of period-two motion trajectories were implemented in a robot for experimental evaluation. Without sensory feedback or control, this evaluation relied on the open loop trajectory of the model. Based on the experiments, the robot was capable of performing dynamic period-two motion.
机译:这项研究探索了机器人的第二周期动态运行运动的产生,该过程基于降阶的被动动态第二周期运动,滚动弹簧加载的倒立摆(R-SLIP)模型。周期为两个周期的每个周期都包含两个姿态阶段,两个姿态阶段由两个飞行阶段分隔开。使用返回图分析模型的两个周期的固定点的分布。研究了每个运动周期具有相同或不同着陆角的模型,并在机器人中实现了两组周期为两个的运动轨迹以进行实验评估。在没有感官反馈或控制的情况下,该评估依赖于模型的开环轨迹。根据实验,该机器人能够执行动态的第二周期运动。

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