一种新型弹性结构让机器人跳得更省电、站得更省力。
Spring-Brake! Handed Shearing Auxetics Improve Efficiency of Hopping and Standing
- 用双向剪切超材料实现弹簧与制动器一体化设计
- 动态跳跃能耗降低，静态支撑无需电机耗电
- 适合需要高效跳跃与长时间站立的机器人
能量效率对足式机器人至关重要。运动和静止时都会因能量浪费而损失效率。加入弹性元件可降低运动成本，加入制动装置可降低静止成本。但分别添加会增加质量与复杂度，影响整体性能。本文提出一种新型柔性机构，采用手性剪切超材料（Handed Shearing Auxetic, HSA），应用于单足跳跃机器人。HSA作为并联弹性执行器，显著降低动态跳跃的电能消耗，效率媲美当前最先进的柔性跳跃机器人。其超材料特性使该结构具备双重功能：在静态任务中，大负载下通过抑制变形自动锁定，产生类似卡头机制的高摩擦力，实现零电机扭矩支撑重载，解决热效率低问题。该多功能设计同时提升动态与静态性能，为机器人应用提供通用高效解决方案。
原文摘要 · Abstract (English)
Energy efficiency is critical to the success of legged robotics. Efficiency is lost through wasted energy during locomotion and standing. Including elastic elements has been shown to reduce movement costs, while including breaks can reduce standing costs. However, adding separate elements for each increases the mass and complexity of a leg, reducing overall system performance. Here we present a novel compliant mechanism using a Handed Shearing Auxetic (HSA) that acts as a spring and break in a monopod hopping robot. The HSA acts as a parallel elastic actuator, reducing electrical power for dynamic hopping and matching the efficiency of state-of-the-art compliant hoppers. The HSA\u2019s auxetic behavior enables dual functionality. During static tasks, it locks under large forces with minimal input power by blocking deformation, creating high friction similar to a capstan mechanism. This allows the leg to support heavy loads without motor torque, addressing thermal inefficiency. The multi-functional design enhances both dynamic and static performance, offering a versatile solution for robotic applications.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。