李哲, 苏兴旺, 阎宏伟, 孙志超, 赵三猛, 武金合. 气动弹跳腿垂直方向稳定跳跃研究[J]. 机器人, 2013, 35(3): 306-312. DOI: 10.3724/SP.J.1218.2013.00306
引用本文: 李哲, 苏兴旺, 阎宏伟, 孙志超, 赵三猛, 武金合. 气动弹跳腿垂直方向稳定跳跃研究[J]. 机器人, 2013, 35(3): 306-312. DOI: 10.3724/SP.J.1218.2013.00306
LI Zhe, SU Xingwang, YAN Hongwei, SUN Zhichao, ZHAO Sanmeng, WU Jinhe. Stable Hopping of a Pneumatically Actuated Leg in Vertical Direction[J]. ROBOT, 2013, 35(3): 306-312. DOI: 10.3724/SP.J.1218.2013.00306
Citation: LI Zhe, SU Xingwang, YAN Hongwei, SUN Zhichao, ZHAO Sanmeng, WU Jinhe. Stable Hopping of a Pneumatically Actuated Leg in Vertical Direction[J]. ROBOT, 2013, 35(3): 306-312. DOI: 10.3724/SP.J.1218.2013.00306

气动弹跳腿垂直方向稳定跳跃研究

Stable Hopping of a Pneumatically Actuated Leg in Vertical Direction

  • 摘要: 对气动弹跳腿的运动过程进行了理论分析和仿真研究,提出触地阶段利用气缸上下腔压力差 将弹跳腿带离地面的控制策略,减小了能量损耗.提出腾空阶段基于能量调节的控制策略, 增强了腿部系统的稳定性.分析了气动弹跳腿腾空阶段设定气缸活塞位置对其跳跃高度和机身质 心的影响,丰富了跳跃高度的调节方式.设计了气动弹跳腿垂直跳跃试验台,验证了仿真结 果的正确性.

     

    Abstract: Theoretical analysis and simulation are carried out to analyze the motion of a pneumatically actuated leg. A control strategy using pressure difference between upper and lower cylinder chambers to make the leg get off ground in touch-ground period is proposed, which can minimize the energy loss. An energy regulation based control strategy used in flight period is proposed to enhance the stability of the leg system. Influences on the hopping height and center of mass are analyzed when the position of the cylinder piston is changed during flight period, which enriches the methods of hopping height regulation. Test-bed for the pneumatically actuated leg is constructed, and the experimental results match well with the simulation results.

     

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