李超, 熊蓉, 朱秋国, 吴俊, 黄懿明. 膝踝协调驱动的平面双足机器人短跑运动规划[J]. 机器人, 2015, 37(4): 459-466. DOI: 10.13973/j.cnki.robot.2015.0459
引用本文: 李超, 熊蓉, 朱秋国, 吴俊, 黄懿明. 膝踝协调驱动的平面双足机器人短跑运动规划[J]. 机器人, 2015, 37(4): 459-466. DOI: 10.13973/j.cnki.robot.2015.0459
LI Chao, XIONG Rong, ZHU Qiuguo, WU Jun, HUANG Yiming. Sprinting Motion Planning for Planar Bipedal Robots Based on Driving Coordination between the Knee and Ankle Joints[J]. ROBOT, 2015, 37(4): 459-466. DOI: 10.13973/j.cnki.robot.2015.0459
Citation: LI Chao, XIONG Rong, ZHU Qiuguo, WU Jun, HUANG Yiming. Sprinting Motion Planning for Planar Bipedal Robots Based on Driving Coordination between the Knee and Ankle Joints[J]. ROBOT, 2015, 37(4): 459-466. DOI: 10.13973/j.cnki.robot.2015.0459

膝踝协调驱动的平面双足机器人短跑运动规划

Sprinting Motion Planning for Planar Bipedal Robots Based on Driving Coordination between the Knee and Ankle Joints

  • 摘要: 本文采用虚拟力控制方法规划双足机器人动态稳定的短跑运动,以解决仅脚尖着地时无有效支撑域的问题.然而,脚尖着地的方式却给支撑腿引入了 1 个冗余关节,导致在虚拟力控制时支撑腿内部运动的不确定.为解决该问题,在分析身体虚拟力和支撑腿各关节做功的基础上,以最大化虚拟力总驱动功率为目标,提出膝关节和踝关节协调驱动的条件和实现方法.该方法通过均衡膝和踝的驱动负担,既解决了支撑腿内部运动的不确定问题,又充分发挥了踝关节的驱动能力.在腿部其他关节驱动能力不变的情况下,通过短跑运动方式可以有效提高双足机器人的运动速度.最后,通过仿真实验验证了本方法的有效性.

     

    Abstract: Due to the lack of support area during tiptoe support phase, the virtual force control method is applied to planning dynamically stable bipedal sprinting. However, this landing pattern introduces a redundant degree-of-freedom, which leads to the uncontrollable inner motion of the support leg. To solve this problem, the virtual force of the body and the work output of support leg joints are analyzed, and then the conditions and method of driving coordination between the knee and ankle joints are put forward to maximize the total power of virtual forces. The proposed approach not only solves the uncontrollable inner motion of the support leg motion by balancing the driving load on ankle and knee joints, but also makes full use of the ankle drive capability. The planar bipedal robot achieves a higher speed by the locomotion pattern of sprinting, while the drive capacity of the other leg joints keeps unchanged. Finally, the effectiveness of the proposed method is verified with simulations.

     

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