调节腿部刚度可显著提升跳跃机器人的能耗效率。
How Leg Stiffness Affects Energy Economy in Hopping
- 通过参数化研究不同速度与刚度下的周期性跳跃运动
- 可变刚度比固定刚度平均提升6.8%、最高提升20%能效
- 适合机器人足式运动设计与生物力学仿生研究者
在机器人学与生物力学领域，弹性元件（如弹簧和肌腱）的引入长期被认为有助于实现节能的运动。然而，一个关键挑战依然存在：如何设计出在多种运行条件下（尤其是不同平均前向速度下）表现一致的机器人腿。目前尚不清楚，在这一速度范围内，是否需要调整弹性元件的刚度，还是仅通过改变运动与驱动方式即可维持相似性能。本文通过广泛参数化研究单足机器人周期性跳跃运动，探讨了腿部刚度对能量效率的影响。为此，我们构建了一个以平均前向速度和腿部刚度为参数的最优控制问题，并采用直接配点法进行数值求解。研究发现，相较于固定刚度，采用可变刚度可在整个速度范围内平均提升6.8%的能量效率，最大提升达20%。
原文摘要 · Abstract (English)
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists: designing a robotic leg that perform consistently across diverse operating conditions, especially varying average forward speeds. It remains unclear whether, for such a range of operating conditions, the stiffness of the elastic elements needs to be varied or if a similar performance can be obtained by changing the motion and actuation while keeping the stiffness fixed. This work explores the influence of the leg stiffness on the energy efficiency of a monopedal robot through an extensive parametric study of its periodic hopping motion. To this end, we formulate an optimal control problem parameterized by average forward speed and leg stiffness, solving it numerically using direct collocation. Our findings indicate that, compared to the use of a fixed stiffness, employing variable stiffness in legged systems improves energy efficiency by 20 % maximally and by 6.8 % on average across a range of speeds.
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