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首页> 外文期刊>Journal of the Chinese Society of Mechanical Engineers, Series C: Transactions of the Chinese Society of Mechanical Engineers >Achieving Jumping Functions of a Bipedal Robot with Knee and Toe Spring Mechanisms
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Achieving Jumping Functions of a Bipedal Robot with Knee and Toe Spring Mechanisms

机译：具有膝盖和脚趾弹簧机制的双足机器人实现跳跃功能

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摘要

This paper proposes a model for characterizing the jumping motion of a bipedal robot with knee and toe spring mechanisms. The bipedal robot has seven active DoFs for its body and legs, and two passive DoFs for its toes. The mathematical model of the robot is based on the ZMP (zero moment point) method and Newton's laws of motion to obtain the trajectory of the center of mass, the velocity of the center of mass and the flight height. The results show that the knee and toe spring mechanisms play important roles for the jumping motion. The calculated ZMP trajectory before take-off agrees with the experimental observations. In addition, the predicted flight height with the proposed model is about 8% in error compared with the measured value. That is, the models developed are in close agreement with the experimental results and are useful for analyzing the characteristics of the jumping robot.
机译：本文提出了一个模型，用于表征具有膝盖和脚趾弹簧机构的双足机器人的跳跃运动。双足机器人的身体和腿部有七个主动自由度，而脚趾则具有两个被动自由度。机器人的数学模型基于ZMP（零力矩点）方法和牛顿运动定律来获得质心的轨迹，质心的速度和飞行高度。结果表明，膝盖和脚趾的弹簧机构在跳动作中起重要作用。起飞前计算的ZMP轨迹与实验观察结果一致。此外，与测量值相比，所提出模型的预测飞行高度误差约为8％。也就是说，开发的模型与实验结果非常吻合，可用于分析跳跃机器人的特性。

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