Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)(2024)
摘要
Template models are frequently used to simplify the control dynamics for
robot hopping or running. Passive limit cycles can emerge for such systems and
be exploited for energy-efficient control. A grand challenge in locomotion is
trunk stabilization when the hip is offset from the center of mass (CoM). The
swing phase plays a major role in this process due to the moment of inertia of
the leg; however, many template models ignore the leg mass. In this work, the
authors consider a robot hopper model (RHM) with a rigid trunk and leg plus a
hip that is displaced from the CoM. It has been previously shown that no
passive limit cycle exists for such a model given a linear hip spring. In this
work, we show that passive limit cycles can be found when a nonlinear hip
spring is used instead. To the authors' knowledge, this is the first time that
a passive limit cycle has been found for this type of system.
更多查看译文
关键词
nonlinear stiffness,passive dynamic hopping,one-legged robots,upright trunk,template models,control dynamics,robot hopping,passive limit cycle,energy-efficient control,trunk stabilization,leg mass,robot hopper model,rigid trunk,linear hip spring,nonlinear hip spring
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要