用可连续变形的柔性腿替代传统刚性结构，实现更轻便高效的双足行走。
Bipedal walking with continuously compliant robotic legs
- 用柔韧材料替代刚性部件，实现连续可变形的机器人腿部设计。
- 实验验证了该设计支持稳定双足行走，减轻了整体重量。
- 适合关注仿生机器人、轻量化设计的研究者与工程师。
在生物力学和机器人学中，弹性对提升运动效率和稳定性至关重要。传统足式机器人常采用带离散刚性部件的串联弹性执行器（SEA），虽有效但增加了重量和复杂性。本文提出一种创新方法，将连续柔顺结构集成于双足机器人的下肢，从根本上重构了SEA概念。该方法用轻质可变形材料替代传统刚性段，降低了整体质量并简化了驱动设计。由于连续柔顺元件具有无限维度特性，给建模、感知和控制带来新挑战。我们通过有效的近似方法和控制策略加以应对。论文详细介绍了柔顺腿部结构的设计与建模，提出了低层力控与运动学控制器，并引入高层姿态控制器与步态调度器。实验结果表明，该设计成功实现了双足行走。
原文摘要 · Abstract (English)
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while effective, add weight and complexity. This paper presents an innovative alternative by integrating continuously compliant structures into the lower legs of a bipedal robot, fundamentally transforming the SEA concept. Our approach replaces traditional rigid segments with lightweight, deformable materials, reducing overall mass and simplifying the actuation design. This novel design introduces unique challenges in modeling, sensing, and control, due to the infinite dimensionality of continuously compliant elements. We address these challenges through effective approximations and control strategies. The paper details the design and modeling of the compliant leg structure, presents low-level force and kinematics controllers, and introduces a high-level posture controller with a gait scheduler. Experimental results demonstrate successful bipedal walking using this new design.
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