脚掌转动对腿型机器人起跳影响的研究

针对目前大多数带脚掌腿型跳跃机器人研究中未考虑脚掌围绕脚尖转动即脚掌欠驱动的现象,制作了一款带脚掌的腿型机器人,对脚掌转动与不转动2种情况进行对比研究。建立了机器人在2种情况下起跳时的动力学方程,研究了2种情况下的起跳约束。以电机能耗最小为优化目标,对2种情况起跳进行优化。使用实际模型数据分析,用MATLAB仿真了2种情况下在起跳时的时序图、总质心时序图、力矩曲线以及能耗值。仿真和实验结果表明,带脚掌的腿型机器人起跳时脚掌转动比脚掌不转动消耗的能量少,而且起跳角度范围也更宽。

Influence of sole rotation on legged robot hopping

Currently, most researches of a legged robot with feet did not consider the situation that the sole rotates a-bout the toe, namely, the underactuated sole, therefore, a legged robot with feet was manufactured to compare the robot with the sole rotating about the toe and the robot with underactuated sole. The dynamics model and the hopping constraints of two instances are constituted and analyzed. The trajectory planning is studied based on the objective of minimizing the consumed energy of electromotor. With the real model, stick diagrams of jumping process, trajectory of the CoM, torque curve and the numerical value of consumed energy of two instances are simu-lated and calculated by Matlab. The results indicate that when the robot is hopping, the legged robot with the sole rotating about the toe needs less energy and the range of jumping angle is wider than the robot with underactuated sole.