通过调节弹簧平衡位置与刚度，降低足式机器人运动能耗。
Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring
- 用蜗杆伺服驱动扭簧，动态调节弹簧刚度和平衡点。
- 仿真显示循环运动中功耗显著下降，提升能效。
- 适合需长时间续航的足式机器人系统设计。
本文致力于开发一种新型自适应扭簧机构，以优化足式机器人的能耗。通过调整弹簧的平衡位置和刚度，系统在行走、跳跃等周期性运动中提升了能量效率。该自适应柔顺机制由扭簧与伺服驱动的蜗杆齿轮组成，可补偿运动产生的扭矩，减轻电机负载。仿真结果表明，该方法显著降低了功率消耗，验证了其在提升机器人运动性能方面的有效性。
原文摘要 · Abstract (English)
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy efficiency during cyclic movements, such as walking and jumping. The adaptive compliance mechanism, consisting of a torsion spring combined with a worm gear driven by a servo actuator, compensates for motion-induced torque and reduces motor load. Simulation results demonstrate a significant reduction in power consumption, highlighting the effectiveness of this approach in enhancing robotic locomotion.
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