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Semi-Passive Walk and Active Walk by One Bipedal Robot: Mechanism, Control and Parameter Identification
International Journal of Humanoid Robotics ( IF 0.9 ) Pub Date : 2019-12-26 , DOI: 10.1142/s0219843620500127
Shintaro Noda 1 , Fumihito Sugai 1 , Kunio Kojima 1 , Kim-Ngoc-Khanh Nguyen 1 , Yohei Kakiuchi 1 , Kei Okada 1 , Masayuki Inaba 1
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We developed a bipedal robot equipped with brake and clutch mechanisms to change the number of active and passive joints, thereby enabling various types of movements including normal active walking using 12-dof joints, under-actuated walking using brake, and passive-based walking using clutch and passive joints. In this paper, we describe three technologies to achieve the proposed system and show experimental results on active and semi-passive walking. The first technology comprises a small and high-strength clutch mechanism to sustain the massive weight of life-sized robots using actuators for joint and dog clutch control. The second technology comprises a walking controller using a simulation-based optimization technique to consider passive joint dynamics instead of depending on the inverse kinematics problem, thereby enabling the control of the under-actuated leg. The last technology is model parameter identification to achieve unstable passive-based walking in real-world considering the body as well as environmental parameters such as ground slope. To the best of our knowledge, the proposed robot is the first to achieve both active and passive-based walking using a bipedal body. This enables the implementation of the passive-walking technology to active-joint robots and expands the application possibility of passive joint for bipedal robots.

中文翻译:

一个双足机器人的半被动行走和主动行走:机构、控制和参数识别

我们开发了配备制动和离合器机构的双足机器人,以改变主动和被动关节的数量,从而实现各种类型的运动,包括使用 12 自由度关节的正常主动行走、使用制动器的欠驱动行走和使用基于被动的行走离合器和被动接头。在本文中,我们描述了三种技术来实现所提出的系统,并展示了主动和半被动步行的实验结果。第一项技术包括一个小型且高强度的离合器机构,使用执行器进行关节和爪形离合器控制,以承受真人大小的机器人的巨大重量。第二种技术包括一个步行控制器,它使用基于仿真的优化技术来考虑被动关节动力学,而不是依赖于逆运动学问题,从而能够控制驱动不足的腿。最后一项技术是模型参数识别,以在现实世界中实现基于被动的不稳定步行,同时考虑身体以及地面坡度等环境参数。据我们所知,所提出的机器人是第一个使用双足体实现主动和被动行走的机器人。这使得被动行走技术在主动关节机器人上的应用成为可能,扩大了被动关节在双足机器人中的应用可能性。所提出的机器人是第一个使用双足体实现主动和被动行走的机器人。这使得被动行走技术在主动关节机器人上的应用成为可能,扩大了被动关节在双足机器人中的应用可能性。所提出的机器人是第一个使用双足体实现主动和被动行走的机器人。这使得被动行走技术在主动关节机器人上的应用成为可能,扩大了被动关节在双足机器人中的应用可能性。
更新日期:2019-12-26
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