Harpy机器人通过腿与推进器协同实现稳定跳跃与小跑
Analysis of Harpy's Constrained Trotting and Jumping Maneuver
- 腿与推进器协同控制，实现轨迹有界、落脚精准
- 腿部主导推进，推进器用于空中姿态调节
- 适合研究混合驱动双足机器人运动控制
本研究分析了东北大学研发的推进器辅助双足机器人Harpy的实验数据，涵盖小跑与跳跃模式。通过多运动模式数据分析，揭示了混合腿-推进器运动的底层规律：通过策略性腿-推进器协同，实现轨迹有界、落脚一致的稳定运动。结果显示，关节受控且扭矩低，对称跟踪良好，即使在相位转换扰动下仍能保持足部定位在运动学约束内，且欠驱动自由度无发散。能量分析表明，腿部提供主要推进力，推进器用于增强空中阶段控制。研究识别出空中阶段关键的躯干-腿耦合动力学，需采用相位特定控制策略。实验具有一致可重复性与对称性，验证了混合驱动方案的鲁棒性。
原文摘要 · Abstract (English)
This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental principles governing hybrid leg-thruster locomotion. Through data analysis across multiple locomotion modes, this research reveals that Harpy achieves stable locomotion with bounded trajectories and consistent foot placement through strategic leg-thruster synergy. The results demonstrate controlled joint behavior with low torques and symmetric tracking, accurate foot placement within kinematic constraints despite phase-transition perturbations, and underactuated degree-of-freedom stability without divergence. Energy level analysis reveals that legs provide primary propulsion, while the thrusters enable additional aerial phase control. The analysis identifies critical body-leg coupling dynamics during aerial phases that require phase-specific control strategies. Consistent repeatability and symmetry across experiments validate the robustness of the hybrid actuation approach.
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