單足跳躍機器人之分析與實作

Analysis and Implementation of a One-Legged Hopping Robot

陳信安(Shen-An Chen)

指導教授 ： 葉廷仁

國立清華大學/工學院/動力機械工程學系/碩士(2007年)

https://doi.org/10.6843/NTHU.2007.00566

摘要

本研究藉由分析質量-彈簧系統的動態，提出一單足跳躍機器人的機械架構與控制策略。其中在機構方面，此機器人具雙自由度致動且關節配備著並聯彈簧。而其控制策略能利用彈簧儲存/釋放能量的特性，以激發系統共振的方式累積能量來達成跳躍的目的。此種控制方式不需要規劃複雜的軌跡;也不需要計算龐大的反向動力學，且由於共振現象的應用，其對致動力矩的要求也不高。此機器人的跳躍性能已透過實作驗證，值得一提的是，實作之機器人的控制力矩係由以電動馬達為主體的串接式彈性致動器(series elastic actuator)來提供。此類的致動器能作直接力矩輸出，且因其具有背向驅動性(back-drivability)，故能使機構之自然動態充分發揮。實驗證明此機器人可作連續多次的穩定跳躍，且其最大跳躍高度為8mm。

關鍵字

單足跳躍機器人 ； 串接式彈性致動器 ； 機械共振

並列摘要

In this research a one-legged robot which can achieve hopping motion is analyzed and implemented. The robot has two rotational joints respectively located at the ankle and the knee. Each of the joints is equipped with a rotary actuator and a torsional spring that emulate the actuation and the passive stiffness in human muscles. Particularly, the actuators used are called series elastic actuators which can provide back-drivability for exploiting the natural dynamics of the robot. By exciting the resonance in the mechanical dynamics, the input energy can be accumulated and the robot can hop with less demanding actuation torques. The hopping performance of the robot is verified by simulations and experiments. Experimentally, the robot can perform continuous and stable hopping with the maximum height of about 8mm.

並列關鍵字

One-Legged Hopping Robot ； Series Elastic Actuator ； Mechanical Resonance

參考文獻

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