The Effect Of Center Of Mass Offset On The Disturbance Rejection Of Running Robots
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS(2013)
摘要
Running robots often have their center-of-mass (CoM) of the torso located on the hip, to allow for simple control schemes. However, an offset between the CoM and the hip might increase a robot's ability to recover from disturbances. In this simulation study, we investigated the effect of the CoM-location on the largest disturbance that can be corrected within one or two steps. We found that, for one-step recovery strategies, the optimal CoM-location is above the hip for a step-down disturbance and below the hip for a push disturbance. For two-step recovery strategies, we found that the performance increases for increasing offset of the CoM. An offset of the CoM-location can increase the disturbance rejection up to a factor of 10 compared to the CoM at the hip.
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关键词
Running, Robotics, Torso dynamics
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