• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International journal of humanoid robotics >ON IMPROVING BIPEDAL WALKING ENERGETICS THROUGH ADJUSTING THE STIFFNESS OF ELASTIC ELEMENTS AT THE ANKLE JOINT
【24h】

ON IMPROVING BIPEDAL WALKING ENERGETICS THROUGH ADJUSTING THE STIFFNESS OF ELASTIC ELEMENTS AT THE ANKLE JOINT

机译：通过调整脚踝连接处的弹性元件的刚度来改善双足行走的能量

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Impact at each leg transition is one of the main causes of energy dissipation in most of the current bipedal walking robots. Minimizing impact can reduce the energy loss. Instead of controlling the joint angle profiles to reduce the impact, which requires a significant amount of energy, installing elastic mechanisms (with adjustable stiffness) on the robots structure is proposed in this paper, enabling the robot to reduce the impact, and to store part of the energy in the elastic form and return it to the robot. The conceptual design of an adjustable stiffness artificial tendon is proposed which is added to the ankle joint of a bipedal walking robot model. Simulation results on the stance phase demonstrate significant improvements in the energetics of the bipedal walking robot by proper stiffness adjustment of the tendon as compared to using a single linear spring. A controller based on energy feedback is designed to automatically adjust the stiffness of the tendon. Computer simulations illustrate improvements in performance of the energetics of the bipedal walking robot in consecutive walking steps while the stiffness of the tendon is adjusted properly.
机译：在当前的大多数双足步行机器人中，每次腿部过渡时的撞击是导致能量耗散的主要原因之一。最小化影响可以减少能量损失。本文提出了代替控制关节角度轮廓以减少需要大量能量的冲击的方法，建议在机器人结构上安装弹性机构（具有可调的刚度），从而使机器人可以减少冲击并存储零件弹性形式的能量，然后将其返回给机器人。提出了一种可调节刚度的人工腱的概念设计，该结构被添加到双足步行机器人模型的踝关节中。姿态阶段的仿真结果表明，与使用单个线性弹簧相比，通过适当地调节肌腱的刚度，可以改善双足步行机器人的能量。基于能量反馈的控制器旨在自动调节肌腱的刚度。计算机仿真表明，在正确调整肌腱刚度的同时，连续步行步骤中双足步行机器人的能量学性能得到改善。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号