液压足式机器人单腿等效模型的柔顺性弹跳研究

基于弹簧负载倒立摆的足式机器人单腿等效模型是移动机器人领域重要的步态分析模型. 液压足式机器人由于其超强的负载能力以及高动态性能而越来越受到重视. 液压驱动的弹簧负载倒立摆模型作为液压足式机器人关节型机械腿的单腿等效模型，对于液压足式机器人的步态研究具有重要的意义. 本文考虑液压驱动的弹簧负载倒立摆单腿等效模型的单自由度弹跳问题，提出了一种基于主动柔顺的弹跳控制方法，依次对单腿等效模型着地相下降阶段和着地相上升阶段进行独立控制，仿真分析了相关系统参数对弹跳性能的影响，实际弹跳实验表明本文提出的方法能够减小着地冲击力，同时能够对弹跳高度进行有效控制. 

Research on Compliant Hopping for Equivalent Model of Hydraulic Robot Leg

Spring loaded inverted pendulum (SLIP) based equivalent leg is an important gait analyzing model in the realm of mobile robot. Due to superb load capacity and dynamic performance, hydraulic based robot has gained more popularity. As an equivalent model for articulated leg in hydraulic legged robot, hydraulic activated SLIP model shows its importance in hydraulic robot gait analysis. In this paper, analyzing the hydraulic actuated 1-DOF SLIP model, an active compliance based hopping method was proposed. And the separation control for stance phase compression and decompression stage was conducted. System parameters were analyzed with simulation for hopping performance and hopping experiments verified the effectiveness of impact force reduction and hopping height control performance.