• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Parallel Elastic Elements Improve Energy Efficiency on the STEPPR Bipedal Walking Robot
【24h】

Parallel Elastic Elements Improve Energy Efficiency on the STEPPR Bipedal Walking Robot

机译：平行弹性元件提高了STEPPR双足步行机器人的能效

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

This paper describes how parallel elastic elements can be used to reduce energy consumption in the electric-motor-driven, fully actuated, Sandia Transmission-Efficient Prototype Promoting Research (STEPPR) bipedal walking robot without compromising or significantly limiting locomotive behaviors. A physically motivated approach is used to illustrate how selectively engaging springs for hip adduction and ankle flexion predict benefits for three different flat-ground walking gaits: human walking, human-like robot walking, and crouched robot walking. Based on locomotion data, springs are designed and substantial reductions in power consumption are demonstrated using a bench dynamometer. These lessons are then applied to STEPPR, a fully actuated bipedal robot designed to explore the impact of tailored joint mechanisms on walking efficiency. Featuring high-torque brushless DC motors, efficient low-ratio transmissions, and high-fidelity torque control, STEPPR provides the ability to incorporate novel joint-level mechanisms without dramatically altering high-level control. Unique parallel elastic designs are incorporated into STEPPR, and walking data show that hip adduction and ankle flexion springs significantly reduce the required actuator energy at those joints for several gaits. These results suggest that parallel joint springs offer a promising means of supporting quasi-static joint torques due to body mass during walking, relieving motors of the need to support these torques and substantially improving locomotive energy efficiency.
机译：本文介绍了如何在不影响或显着限制机车行为的情况下，如何使用平行弹性元件来减少电动机驱动的全驱动桑迪亚变速箱高效原型促进研究（STEPPR）双足步行机器人的能耗。使用一种物理激励方法来说明如何选择性地接合弹簧进行髋关节内收和踝关节屈曲如何预测三种不同的平坦地面行走步态的收益：人的行走，类人的机器人行走和蹲伏的机器人行走。基于运动数据，设计了弹簧，并使用台式测功机证明了功耗的大幅降低。然后将这些课程应用于STEPPR，这是一种全驱动双足机器人，旨在探究量身定制的关节机制对步行效率的影响。 STEPPR具有高转矩无刷直流电动机，高效的低速比传动装置和高保真转矩控制功能，能够在不显着改变高级控制的情况下整合新型的关节级机构。 STEPPR中采用了独特的平行弹性设计，步行数据表明，髋关节内收和踝部弯曲弹簧可显着减少这些步态在这些关节处所需的执行器能量。这些结果表明，并联关节弹簧提供了一种有希望的方法，可在步行过程中支撑由于体重引起的准静态关节扭矩，从而减轻了电动机对支撑这些扭矩的需求，并显着提高了机车能源效率。

著录项

  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第2期|898-908|共11页
  • 作者

    Anirban Mazumdar; Steven J. Spencer; Clinton Hobart; Jonathan Salton; Morgan Quigley; Tingfan Wu; Sylvain Bertrand; Jerry Pratt; Stephen P. Buerger;

  • 作者单位

    High Consequence Automation and Robotics Group, Sandia National Laboratories, Albuquerque, NM, USA;

    High Consequence Automation and Robotics Group, Sandia National Laboratories, Albuquerque, NM, USA;

    High Consequence Automation and Robotics Group, Sandia National Laboratories, Albuquerque, NM, USA;

    High Consequence Automation and Robotics Group, Sandia National Laboratories, Albuquerque, NM, USA;

    Open Source Robotics Foundation, Mountain View, CA, USA;

    BioInspired Robotic Lab, Florida Institute for Human and Machine Cognition, Pensacola, FL, USA;

    BioInspired Robotic Lab, Florida Institute for Human and Machine Cognition, Pensacola, FL, USA;

    BioInspired Robotic Lab, Florida Institute for Human and Machine Cognition, Pensacola, FL, USA;

    High Consequence Automation and Robotics Group, Sandia National Laboratories, Albuquerque, NM, USA;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Legged locomotion; Springs; Torque; Hysteresis motors; Robot kinematics; Hip;

    机译：腿部运动;弹簧;扭矩;磁滞电动机;机器人运动学;髋关节;
  • 入库时间 2022-08-17 13:03:28

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