Achieving Jumping Functions of a Bipedal Robot with Knee and Toe Spring Mechanisms

達成跳躍功能之具膝蓋和腳趾彈簧機構雙足機器人

李崇瑋(Chung-Wei Lee) ； 周榮華(Jung-Hua Chou)

《中國機械工程學刊》 33卷5期 (2012/10) Pp. 401-408

https://doi.org/10.29979/JCSME.201210.0004

摘要

本文提出具膝蓋和腳趾彈簧機構之雙足機器人的跳躍動作模型以研究其跳躍特性。機器人身體和腳具有七個主動自由度，腳趾則有兩個被動自由度。機器人之分析模型藉由ZMP方法和牛頓運動定律得到質心軌跡、質心速度和跳躍離地高度。結果顯示，膝蓋和腳趾彈簧機構在跳躍動作中分別扮演重要角色。跳躍離地前之ZMP軌跡計算值和實驗結果相符。以本文所建立之模型的跳躍離地高度與測量值比較約有8%的誤差。本文所發展之模型與實驗結果相近且能夠分析機器人之跳躍特性。

並列摘要

This paper proposes a model for characterizing the jumping motion of a bipedal robot with knee and toe spring mechanisms. The bipedal robot has seven active DoFs for its body and legs, and two passive DoFs for its toes. The mathematical model of the robot is based on the ZMP (zero moment point) method and Newton's laws of motion to obtain the trajectory of the center of mass, the velocity of the center of mass and the flight height. The results show that the knee and toe spring mechanisms play important roles for the jumping motion. The calculated ZMP trajectory before take-off agrees with the experimental observations. In addition, the predicted flight height with the proposed model is about 8% in error compared with the measured value. That is, the models developed are in close agreement with the experimental results and are useful for analyzing the characteristics of the jumping robot.

並列關鍵字

jumping characteristics ； bipedal robot ； spring mechanisms ； ZMP