This study investigates the effect of vertical movements of the pelvis on the joint of a biped robot. We evaluate experimentally two cases of walking on flat terrains and avoiding a toll bar obstacle. The experimental results show that the torque and velocity of the knee joint vary with the vertical movement of the pelvis. The knee joint velocity can be reduced when walking with the vertical movement compared to that when walking without the vertical movement of the pelvis. Based on the experimental results, the vertical movement of the pelvis can increase the stride lengths or relax the knee-actuator performance requirements. In addition, the trajectories of the center of mass (CoM) generated to avoid a toll bar obstacle using the preview control that includes the vertical motion of the CoM are compared to those using the preview control that neglects the vertical motion of the CoM. The results show that the trajectory generated by including the vertical motion of the CoM can reduce energy consumption and walk more stable.

本研究调查骨盆垂直运动对双足机器人关节的影响。我们通过实验评估了在平坦地形上行走和避开收费站障碍物的两种情况。实验结果表明，膝关节的扭矩和速度随着骨盆的垂直运动而变化。与没有骨盆垂直运动的行走相比，垂直运动行走时膝关节速度可以降低。根据实验结果，骨盆的垂直运动可以增加步幅或放松膝部执行器的性能要求。此外，将使用包括 CoM 垂直运动的预览控件生成的用于避开收费栏障碍物的质心 (CoM) 轨迹与使用忽略 CoM 垂直运动的预览控件的轨迹进行比较。结果表明，包含CoM垂直运动产生的轨迹可以降低能耗，行走更稳定。