建模足地交互动态，提升机器人在沙地行走的稳定性与效率。
Bipedal-Walking-Dynamics Model on Granular Terrains
- 引入三自由度模型估算足部下陷与滑移，捕捉真实运动特性。
- 实验验证显示，模型能准确预测足地反作用力与介质侵入深度。
- 适用于复杂地形下的机器人步态控制与优化设计。
双足机器人在非结构化环境（如沙地）中展现出高机动性，但颗粒介质的变形导致足部显著下陷和滑移，引发行走不稳定。本文提出一种新动力学建模方法，通过集成动态足-地形交互模型计算地面反作用力（GRF）。该颗粒动力学模型新增三个自由度，用于估计关键的足部下陷与滑移，从而更准确地捕捉机器人行走的运动学与动力学特性，包括能耗（CoT）。利用该模型，分析了双足运动学、能耗及足-地形滚动与侵入影响。在沙地上的双足机器人步行实验验证了模型的有效性，涵盖步态轨迹、介质侵入预测与GRF估计。该模型可进一步作为双足机器人在颗粒地形上高效行走的控制与优化工具。
原文摘要 · Abstract (English)
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to uncertainty and instability of walking locomotion. We present a new dynamics-modeling approach to capture and predict bipedal-walking locomotion on granular media. A dynamic foot-terrain interaction model is integrated to compute the ground reaction force (GRF). The proposed granular dynamic model has three additional degree-of-freedom (DoF) to estimate foot sinkage and slip that are critical to capturing robot-walking kinematics and kinetics such as cost of transport (CoT). Using the new model, we analyze bipedal kinetics, CoT, and foot-terrain rolling and intrusion affects. Experiments are conducted using a biped robotic walker on sand to validate the proposed dynamic model with robot-gait profiles, media-intrusion prediction, and GRF estimations. This new dynamics model can further serve as an enabling tool for locomotion control and optimization of bipedal robots to efficiently walk on granular terrains.
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