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. ROBOT, 2013, 35(3): 306-312. DOI: 10.3724/SP.J.1218.2013.00306.
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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