一种新型翻转跳跃运动机器人的运动结构与轨迹规划

提出一种全新的单腿机器人运动模式——翻转跳跃运动模式,对其运动结构和轨迹规划进行了分析．与一般单腿机器人的弹簧结构完全不同,翻转跳跃运动机器人的运动结构仅由3个旋转关节构成;1个完整的翻转跳跃运动周期则由2个行走阶段和2个飞行阶段组成．在飞行阶段,由于机器人绕其质心的角动量守恒,各关节则不加控制．因此,可利用这种全新运动模式机器人特有的运动学和动力学特性,将其运动轨迹规划问题转化为2个非线性二阶约束条件下的最优化问题．给出了一个消耗能量最小的运动轨迹规划问题的仿真结果．

Structure and Trajectory Planning of A Novel Flipping Robot

A novel type of planar one legged robot was proposed. Unlike previous one legged robot with springy legs, it consists of three revolute joints, two links and two feet. A cyclic flipping gait was designed for this robot. A complete flipping gait cycle is composed of four phases: two stance phases and two flight phases. During the flight phases, the torque of the knee joint is zero, the total angular momentum with respect to the center of mass of the system is conserved, the rotational motion and translational motion are decoupled from each other. The trajectory planning of the four phases is formulized as a problem of numerical optimization subject to the nonlinear constraints such as positive reaction force of ground and finite torque of the joints. The energy injected into the robot in a gait cycle is chosen as a criterion of optimization in the simulation.