3.6厘米高自供能双足机器人，靠简单结构实现高速行走。
Zippy: The smallest power-autonomous bipedal robot
- 用无反馈开环控制与单电机实现稳定行走
- 最快速度达25厘米/秒，相当于10倍腿长每秒
- 适合微型机器人设计与仿生运动研究
微型腿部机器人平台的缩小面临硬件限制，制约了执行器的数量、功率密度和精度。通过借鉴任意尺度下准被动行走机器人的设计原理，仅用简单机构和开环控制即可实现稳定运动与转向。本文介绍名为「Zippy」的自包含双足步行机器人，其高度仅3.6厘米，是目前最小的自主供电双足机器人。它采用圆弧形脚掌、单个无反馈电机，可实现转向、跳跃和上台阶。在最快速度下，前进速度达25厘米/秒，即每秒10倍腿长，为所有尺寸双足机器人中该指标最快者。本研究探讨了该机器人的设计与性能，并与更大规模的动态行走机器人进行了对比。
原文摘要 · Abstract (English)
Miniaturizing legged robot platforms is challenging due to hardware limitations that constrain the number, power density, and precision of actuators at that size. By leveraging design principles of quasi-passive walking robots at any scale, stable locomotion and steering can be achieved with simple mechanisms and open-loop control. Here, we present the design and control of "Zippy", the smallest self-contained bipedal walking robot at only 3.6 cm tall. Zippy has rounded feet, a single motor without feedback control, and is capable of turning, skipping, and ascending steps. At its fastest pace, the robot achieves a forward walking speed of 25 cm/s, which is 10 leg lengths per second, the fastest biped robot of any size by that metric. This work explores the design and performance of the robot and compares it to similar dynamic walking robots at larger scales.
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