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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Passive-Based Physical Bipedal Robot With a Dynamic and Energy-Efficient Gait on the Flat Ground
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A Passive-Based Physical Bipedal Robot With a Dynamic and Energy-Efficient Gait on the Flat Ground

机译：基于被动的物理双足机器人，在平坦地面上具有动态且节能的步态

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摘要

A passive walker is dynamic and energy efficient, but is always restricted to a downward gentle slope, and cannot walk on the flat ground. To design and build a bipedal walking robot, as dynamic and energy efficient as a passive walker, and still enable to walk on the flat ground, there is a need for a proper source of energy (actuation) to replace the gravitational energy input. Such an actuation system should allow the robot to walk a larger portion of a gait cycle all by its natural dynamics, and also, the actuation system does not have to suppress the natural dynamics of the robot. Therefore, in this paper, the authors present the design of a passive-based physical bipedal robot which can walk on the flat ground purely based on its natural dynamics (no control and no actuation) for a large portion of a gait cycle with a dynamic and highly energy-efficient gait. The robot has three internal degrees of freedom, i.e., the (active) hip and the two (passive) knees as well as the two round-feet rigidly connected to the two shanks. Only one compliant hip-actuation system is used to allow the robot to perform energy recovery as well as coordination between the energy input and the natural dynamics. The energy is injected at the hip and is stored in a torsional spring at the beginning of each gait cycle ($simeq text{40%}$ of a gait cycle); such energy is then recovered to enable the robot walking forward entirely by its natural dynamics for the rest of that cycle ($simeq text{60%}$ of a gait cycle). As a result, the robot can walk with a dynamic and highly energy-efficient gait on the flat ground with a Froude number of $text{0.176}$ , a mechanical cost of transport of $text{0.086}$ , and a total cost of transport of $text{0.236}$, which are comparable to a human and the best available bipedal walking robots in the literature.
机译：被动式助行器具有动态和节能功能，但始终限于向下平缓的坡度，并且不能在平坦的地面上行走。为了设计和制造一种双足步行机器人，其动态性和能源效率与被动步行器一样，并且仍然能够在平坦的地面上行走，需要一种合适的能源（致动）来替代重力输入。这样的致动系统应允许机器人通过其自然动力学全部行走步态周期的较大部分，并且，该致动系统不必抑制机器人的自然动力学。因此，在本文中，作者提出了一种基于被动的物理双足机器人的设计，该机器人可以完全基于其自然动力学（无控制且无促动）在大部分步态周期的步态周期中在平坦地面上行走以及高效节能的步态。该机器人具有三个内部自由度，即（主动）臀部和两个（被动）膝盖，以及两个牢固连接到两个小腿的圆脚。仅使用一种兼容的髋部致动系统来使机器人执行能量回收以及能量输入和自然动力学之间的协调。能量注入到臀部，并在每个步态周期的开始时存储在扭转弹簧中（步态周期的$ simeq {40％} $）；然后回收这种能量，以使机器人在该循环的其余部分（步态循环的$ simeq text {60％} $）中完全通过其自然动力向前行走。结果，机器人可以在Froude值为$ text {0.176} $的情况下通过动态且高度节能的步态在平坦地面上行走，机械运输成本为$ text {0.086} $，并且总费用$ text {0.236} $的运输数量，可与人类和文献中现有的最佳双足步行机器人相媲美。

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