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High efficient walking of compass-like biped robots with foot rotation

机译：带脚旋转的罗盘式两足动物机器人的高效行走

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This paper investigates the high efficient walking problem of a planar compass-like biped robot with massless feet. The walking manner with the stance foot allowed to rotate about the toe, is considered. A latch attached to the hip is introduced to lock the hip joint, which works when the hip joint retracts to a desired angle, and spring devices are equipped at the ankle joints to reduce the inputs of the ankles. After modeling the walking robot as a hybrid system with multiple continuous state spaces, a high efficient walking gait limit cycle is found using the method of Poincare shooting with the objective of minimizing the dimensionless specific mechanical cost of transport. Then, an event-based feedback control law is proposed to stabilize the high efficient walking gait. The validity of our control strategies is illustrated by a series of numerical simulations.
机译：本文研究了无质量脚的平面罗盘式两足机器人的高效行走问题。考虑以允许足部脚趾围绕脚趾旋转的步行方式。引入了连接到臀部的闩锁以锁定髋关节，当髋关节缩回至所需角度时，该锁将起作用，并且在踝关节处装有弹簧装置以减少踝关节的输入。在将步行机器人建模为具有多个连续状态空间的混合系统后，使用庞加莱射击方法发现了一种高效的步行步态极限循环，目的是最大程度地减少无量纲的特定运输机械成本。然后，提出了一种基于事件的反馈控制律，以稳定高效的步行步态。一系列数值模拟说明了我们控制策略的有效性。

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