通过虚拟能量注入，发现耗散系统最优自然步态
Discovering Optimal Natural Gaits of Dissipative Systems via Virtual Energy Injection
- 用虚拟能量注入识别耗散系统的被动运动模式
- 在单/多足机器人上实现能量最优控制输入
- 适合研究弹性足式机器人效率优化的学者
足式机器人在非结构化环境中具有优势，但能效常不及轮式机器人。本文提出一种统一的多阶段框架，通过新型虚拟能量注入技术，利用系统的自然动力学识别被动运动模式，即使在存在摩擦或塑性碰撞等耗散因素时仍有效。基于这些被动解，进一步采用连续法推导出全驱动耗散机器人的能量最优控制输入。方法在模拟的单足与多足机器人模型上验证，展示了其在弹性足式机器人设计与运行中的应用潜力，为提升能效与适应性提供了新路径。
原文摘要 · Abstract (English)
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural (unactuated) dynamics using elastic elements. This work explores that concept by designing energy-optimal control inputs through a unified, multi-stage framework. It starts with a novel energy injection technique to identify passive motion patterns by harnessing the system's natural dynamics. This enables the discovery of passive solutions even in systems with energy dissipation caused by factors such as friction or plastic collisions. Building on these passive solutions, we then employ a continuation approach to derive energy-optimal control inputs for the fully actuated, dissipative robotic system. The method is tested on simulated models to demonstrate its applicability in both single- and multi-legged robotic systems. This analysis provides valuable insights into the design and operation of elastic legged robots, offering pathways to improve their efficiency and adaptability by exploiting the natural system dynamics.
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