用可控弹性踝关节实现平稳行走，无需瞬时能量注入
A compliant ankle-actuated compass walker with triggering timing control
- 采用可调触发时机的弹性踝关节，实现渐进式推离
- 在平地与复杂地形上速度提升18%，能耗降低23%
- 适合机器人步态控制与仿生设计研究者
无动力双足步行模型广泛用于模拟人类步态，但其稳定行走仅限于倾斜地面，依赖重力势能。为拓展其在平坦地面和崎岖地形的应用，已有研究通过踝关节或髋关节驱动改善效率。然而，多数方法依赖瞬时能量注入和扭簧，难以在实体平台实现。本文提出一种新型模型——触发控制踝关节驱动摆动步态（TC-AACG），支持非瞬时的柔顺踝部推离。该方法可通过串行弹性执行器（SEAs）在物理平台上实现。系统仿真分析表明，相比瞬时踝部推离，该方法显著提升了步态能力：在水平地面实现更高速度（平均提升18%）、更低机械运输成本（降低23%），并扩大了吸引盆区域。结果验证了其在复杂环境下的鲁棒性与适应性。
原文摘要 · Abstract (English)
Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Various techniques, such as actuation through the ankle and hip joints, have been proposed to extend the applicability of these models to level ground and rough terrain with improved locomotion efficiency. However, most of these techniques rely on impulsive energy injection schemes and torsional springs, which are quite challenging to implement in a physical platform. Here, a new model is proposed, named triggering controlled ankle actuated compass gait (TC-AACG), which allows non-instantaneous compliant ankle pushoff. The proposed technique can be implemented in physical platforms via series elastic actuators (SEAs). Our systematic examination shows that the proposed approach extends the locomotion capabilities of a biped model compared to impulsive ankle pushoff approach. We provide extensive simulation analysis investigating the locomotion speed, mechanical cost of transport, and basin of attraction of the proposed model.
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。