可调腿刚度让单足跳跃机器人在不同地面高效跳得更高
Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping Across Varying Ground Profiles
- 通过实时调节腿的刚度适应不同地面
- 在各种地面条件下实现最高跳跃高度，能量不变
- 适合研究仿生跳跃与自适应机器人控制的人看
我们提出了HASTA（可调刚度地形适应单足跳跃器），一种具有实时可调腿刚度的垂直跳跃机器人，旨在优化不同地面条件（包括地面刚度和阻尼组合）下的能耗效率。通过调节腿刚度，目标是最大化跳跃最高点高度，这是衡量能量高效垂直跳跃的关键指标。我们假设：在柔软且阻尼较大的地面上，较软的腿能减少下陷和能量损失；而在坚硬且阻尼较小的地面上，较硬的腿则能减少肢体形变和能量耗散。通过实验测试和仿真分析，我们找到了每种地面刚度与阻尼组合下最优的腿刚度，使机器人在恒定能量输入下实现最大稳态跳跃高度。结果验证了可调刚度能提升能量效率的假设。此外，仿真还为未来控制器设计提供了选择刚度的参考。
原文摘要 · Abstract (English)
We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaptation), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles (a pair of ground stiffness and damping conditions). By adjusting leg stiffness, we aim to maximize apex hopping height, a key metric for energy-efficient vertical hopping. We hypothesize that softer legs perform better on soft, damped ground by minimizing penetration and energy loss, while stiffer legs excel on hard, less damped ground by reducing limb deformation and energy dissipation. Through experimental tests and simulations, we find the best leg stiffness within our selection for each combination of ground stiffness and damping, enabling the robot to achieve maximum steady-state hopping height with a constant energy input. These results support our hypothesis that tunable stiffness improves energy-efficient locomotion in controlled experimental conditions. In addition, the simulation provides insights that could aid in the future development of controllers for selecting leg stiffness.
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