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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Parallel Compliance Design for Increasing Robustness and Efficiency in Legged Locomotion—Proof of Concept
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Parallel Compliance Design for Increasing Robustness and Efficiency in Legged Locomotion—Proof of Concept

机译：腿部运动中增加鲁棒性和效率的并行遵从性设计—概念验证

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摘要

Benefiting from serial compliance in series elastic actuators can be considered as a breakthrough in robotics. Recently, applying the parallel compliance in robot designs is growing based on its advantages such as reduction in consumed torques. In this paper, we aim at employing parallel compliance to increase walking robustness of bipedal robots against model uncertainties. Utilizing passive compliant elements instead of adapting the controller in order to cope with uncertainties makes the system more efficient and less sensitive to measurement issues such as delays and noise. We introduce a methodology for designing both parallel compliance and controller using hybrid zero dynamics concept. This study includes simulation results representing the design approach and preliminary experiments on parallel compliance effects on efficiency of a robot joint position control. The simulations comprise a compass gait (2-link) model and a 5-link model. The ground slope and robot segment lengths are considered as uncertain parameters in the first and second models, respectively. The control target is met by the insertion of compliant structures parallel to the actuators. In order to employ the proposed method on a real robot, we suggest using pneumatic air muscles as parallel compliant elements. Pilot experiments on the knee joint of BioBiped3 robot support the feasibility of suggested method.
机译：得益于串联弹性执行器的串行一致性，可以认为是机器人技术的突破。近来，基于并行顺应性在机器人设计中的应用正越来越多，这是因为它具有减少扭矩消耗等优点。在本文中，我们旨在采用并行顺应性来提高双足机器人对模型不确定性的行走鲁棒性。使用无源兼容元件而不是调整控制器以应对不确定性，会使系统效率更高，并且对诸如延迟和噪声之类的测量问题不那么敏感。我们介绍了一种使用混合零动力学概念设计并行顺应性和控制器的方法。这项研究包括代表设计方法的仿真结果以及关于平行顺应性对机器人关节位置控制效率的影响的初步实验。模拟包括罗盘步态（2链接）模型和5链接模型。在第一模型和第二模型中，地面坡度和机器人路段长度分别被视为不确定参数。通过插入平行于致动器的顺应性结构可以达到控制目标。为了在实际的机器人上采用建议的方法，我们建议使用气动肌肉作为平行顺应性元素。在BioBiped3机器人的膝关节上进行的实验研究证明了所建议方法的可行性。

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