新型解耦驱动机器人腿，提升敏捷运动能力。
DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion
- 采用解耦驱动与准伸缩结构，实现高效动力分配。
- 提出新评估指标FAST，量化验证其比现有设计更快的摆动速度。
- 适合追求高动态性能的仿人机器人研发者参考。
本文提出一种新型电驱动机器人腿——DecARt（解耦驱动机器人）腿，旨在实现敏捷运动。该设计包含多项创新：采用准伸缩运动学结构与旋转电机实现解耦驱动；近似人体形态，膝关节朝前；以及一种新型多杆系统，将踝部扭矩从膝上电机传递至脚部。为数值分析其敏捷运动能力，我们提出新的描述性指标‘最快可达成摆动时间’（FAST），对所提设计进行定量评估，并与其它设计对比。随后通过大量仿真和初步硬件实验，验证了基于DecARt腿的机器人性能。
原文摘要 · Abstract (English)
In this paper, we propose a novel design of an electrically actuated robotic leg, called the DecARt (Decoupled Actuation Robot) Leg, aimed at performing agile locomotion. This design incorporates several new features, such as the use of a quasi-telescopic kinematic structure with rotational motors for decoupled actuation, a near-anthropomorphic leg appearance with a forward facing knee, and a novel multi-bar system for ankle torque transmission from motors placed above the knee. To analyze the agile locomotion capabilities of the design numerically, we propose a new descriptive metric, called the `Fastest Achievable Swing Time` (FAST), and perform a quantitative evaluation of the proposed design and compare it with other designs. Then we evaluate the performance of the DecARt Leg-based robot via extensive simulation and preliminary hardware experiments.
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