给机器人装上仿生脚趾，走路更省力、更稳、抗冲击更强。
Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes
- 设计14自由度仿生脚趾，模拟人类脚趾轻量化高扭矩特性。
- 实测行走时能耗降低17.5%，落地冲击力减少5.0%，路径偏差下降超25%。
- 适用于足式机器人设计优化，尤其关注节能与动态稳定性场景。
人类腿部具备高效率、高敏捷性和强抗冲击能力，脚趾在其中起关键作用。尽管已有诸多尝试将类人脚趾引入机器人，但尚未完全复现人类特性，也缺乏严谨验证。本文提出一种14-DOF双足机器人，模仿人类脚趾的轻量化、高扭矩与鲁棒性。为定量评估主动脚趾在敏捷性、效率和冲击吸收方面的效果，我们构建了高保真仿真训练环境，真实反映执行器耦合传动与精确功耗。为确保对比公平，采用最小化强化学习奖励函数并施加相同训练流程。仿真结果表明，在1.33 m/s步行速度下，配备脚趾的机器人相较无脚趾配置，能量消耗率（CoT）降低17.5%，跟部着地冲击力（heel-strike GRF）减少5.0%；在敏捷性测试中，平均与最大路径偏差分别降低25.0%和34.0%。
原文摘要 · Abstract (English)
Human legs exhibit high efficiency, agility, and impact absorption, with toes playing a crucial role in these capabilities. While many attempts have been made to implement human-like toes in robots, they have not fully replicated human characteristics nor rigorously validated their benefits. We propose a 14-DOF biped robot emulating human toes' lightweight, high-torque, robust nature. To quantitatively analyze the effectiveness of the active toes in terms of agility, efficiency, and impact absorption, we developed a high-fidelity simulation training environment that reflects actual actuators with coupled transmissions and accurate power consumption. To ensure a fair comparison between configurations with and without active toes, we designed a minimal RL reward function and applied an identical training procedure to both. The simulation results indicate that, at 1.33 m/s walking, the toe-equipped robot reduced CoT by 17.5% and heel-strike GRF by 5.0% compared with the toe-ablation configuration. On the agility test, average and maximum path deviation decreased by 25.0% and 34.0%, respectively.
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