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Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain

机译:生物启发双层机器人的动态稳定性,用于螺旋地形横向跳跃

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摘要

Bio-inspired jumping robots should achieve stable jumping in field environment. Robots easily lose stability because of the complex terrain and large speed change. Lateral jumping of the robot with four-bar jumping legs under rugged terrain was used as the research object, and a method to achieve good dynamic stability by adjusting the leg attitudes of the robot was proposed. The stability criteria were proposed hierarchically on the basis of the analysis of the jumping mechanism of creatures. Then, the dynamic model of the robot jumping on the slope was established, and the effect of different parameters on dynamic stability was analyzed to carry out the primary selection of parameters. Then, the method of maintaining dynamic stability was proposed. On the basis of ensuring large motion distances and stable driving torques, leg attitudes were considered the optimization parameters. Thus, the robot does not overturn or turn over uncontrollably in the take-off, buffering, and flight phases. Analysis results of robot jumping in plane and 3D space under different terrains prove the feasibility of this method. In particular, the dynamic stability of the robot is better if the take-off direction is considered an optimization parameter. The simulation results also proved the accuracy of the analysis results. The research results provide a theoretical basis to realize stable continuous jumping of bio-inspired biped robots.
机译:生物启发跳跃机器人应在现场环境中实现稳定的跳跃。由于复杂的地形和大的速度变化,机器人容易失去稳定性。用四个条形的地形下的机器人的横向跳跃用作研究对象,提出了通过调整机器人的腿态度来实现良好的动态稳定性的方法。基于生物跳跃机制的分析,层次地提出了稳定性标准。然后,建立了跳跃在坡度上的机器人的动态模型,分析了不同参数对动态稳定性的影响,执行参数的主要选择。然后,提出了保持动态稳定性的方法。在确保大运动距离和稳定的驾驶扭矩的基础上,腿态度被认为是优化参数。因此,机器人不会在起飞,缓冲和飞行阶段中翻转或不可控制地翻转。在不同地形下的平面跳跃的机器人分析结果证明了这种方法的可行性。特别地,如果取出方向被认为是优化参数,则机器人的动态稳定性更好。仿真结果还证明了分析结果的准确性。研究结果为实现生物启发的双链机器人稳定连续跳跃提供了理论依据。

著录项

  • 来源
    《Applied Mathematical Modelling》 |2021年第9期|113-137|共25页
  • 作者单位

    Faculty of Materials and Manufacturing Beijing University of Technology Beijing 100124 China;

    Faculty of Materials and Manufacturing Beijing University of Technology Beijing 100124 China;

    Faculty of Materials and Manufacturing Beijing University of Technology Beijing 100124 China;

    Faculty of Materials and Manufacturing Beijing University of Technology Beijing 100124 China;

    Faculty of Materials and Manufacturing Beijing University of Technology Beijing 100124 China;

    Computer Science Department Heriot-Watt University Edinburgh EH14 4AS UK;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Bio-inspired robot; Lateral jumping; Leg attitude; Dynamic stability; Rugged terrain;

    机译:生物启发机器人;横向跳跃;腿部态度;动态稳定性;崎岖的地形;

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