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Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot
Frontiers in Bioengineering and Biotechnology ( IF 5.7 ) Pub Date : 2021-01-12 , DOI: 10.3389/fbioe.2020.621560
Qiaoli Ji , Zhihui Qian , Lei Ren , Luquan Ren

Ankle push-off generates more than 80% positive power at the end of the stance phase during human walking. In this paper, the influence of impulsive ankle push-off on the walking speed of a biped robot is studied by simulation. When the push-off height of the ankle joint is 13 cm based on the ground (the height of the ankle joint of the swing leg) and the ankle push-off torque increases from 17 to 20.8 N·m, the duration of the swinging leg actually decreases from 50 to 30% of the gait cycle, the fluctuation amplitude of the COM (center of mass) instantaneous speed of the robot decreases from 95 to 35% of the maximum speed, and the walking speed increases from 0.51 to 1.14 m/s. The results demonstrate that impulsive ankle push-off can effectively increase the walking speed of the planar biped robot by accelerating the swing leg and reducing the fluctuation of the COM instantaneous speed. Finally, a comparison of the joint kinematics of the simulation robot and the human at a normal walking speed shows similar motion patterns.

中文翻译:

平面双足机器人行走速度的脉冲脚踝推离仿真分析

在人类行走的站立阶段结束时,脚踝推出会产生超过 80% 的正功率。本文通过仿真研究了脉冲脚踝推出对双足机器人步行速度的影响。当踝关节离地高度为13 cm(摆腿踝关节高度),踝关节推出扭矩从17 N·m增加到20.8 N·m时,摆动持续时间腿实际上从步态周期的 50% 下降到 30%,机器人的 COM(质心)瞬时速度的波动幅度从最大速度的 95% 下降到 35%,步行速度从 0.51 m 增加到 1.14 m /秒。结果表明,脉冲脚踝推出可以通过加速摆动腿和减少COM瞬时速度的波动来有效提高平面双足机器人的行走速度。最后,模拟机器人和人类在正常步行速度下的关节运动学的比较显示出相似的运动模式。
更新日期:2021-01-12
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