通过调整质心位置，用俯仰稳定力矩补偿能量损耗，实现高效单足跳跃。
Hip Energized Monopedal Hopping
- 利用质心移动增强俯仰控制力矩，反向补充阻尼能耗
- 仿真与实测显示速度达1.02~1.77 m/s，对应5.10~8.85倍腿长/秒
- 理论分析精确预测动态特性，适合机器人步态设计参考
本文提出一种适用于无俯仰约束平面单足机器人的新型步态策略，通过移动质心位置增强传统PD+前馈控制器的俯仰稳定力矩，从而将原本用于稳定的反作用力矩转化为增能机制。新设计的步态策略可调节径向与角向能量分配，以抵消耗散损失，并实现用户指定的前后速度与最高点高度之间的平衡。采用混合平均分析方法，获得该步态固定点及特征值的闭式表达，揭示了物理参数与控制参数对性能的影响关系。在通用五连杆双足模型及宾夕法尼亚杰罗巴（Penn Jerboa）精确模型上的仿真验证了理论预测的有效性。实际实验中，宾夕法尼亚杰罗巴实现了1.02~1.77米/秒（5.10~8.85倍腿长/秒）的稳定运动，且其行为可被数学模型良好近似。
原文摘要 · Abstract (English)
We present a novel stepping strategy for pitch unlocked planar monopeds where the reaction torques from stabilizing pitch with a conventional PD + feedfoward controller are recruited to counteract energetic losses from damping. By moving the location of the mass center, our controller increases the pitch stabilization torque, thereby adding energy to the gait. A new stepping policy adjusts the distribution of energy between the radial and angular degrees of freedom to counteract dissipative losses and achieve a user specified balance between steady state fore-aft speed and apex height. Hybrid averaging analysis yields closed form expressions for the fixed points and eigenvalues of the resulting gait, lending insight into the interplay between the physical and control parameters' influence on performance. Simulation studies on a generic 5 link biped and a careful model of the Penn Jerboa reveal a useful correspondence to these analytical predictions. Physical experiments on the Penn Jerboa exhibit stable locomotion with speeds ranging from 1.02 m/s to 1.77 m/s (5.10 leg lengths/s to 8.85 leg lengths/s) in a manner effectively approximated by the mathematical analysis.
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