论文标题
胃癌和功率放大器soleus spring-tendons在双皮亚机器人中实现快速的人类行走
Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot
论文作者
论文摘要
人类的腿部运动受人体和神经控制的自然动态的控制。假定有助于人类步行效率高效率的一种机制是冲动的脚踝推断,它可能为挥杆腿弹射器提供动力。但是,尚不清楚人类下腿的机制,其复杂的肌肉弯曲单位跨越了单个关节和多个关节。腿部机器人允许在实际步行步态中测试复杂的腿力学,控制和环境之间的相互作用。我们开发了一个高0.49m,2.2千克的拟人化型二皮特机器人,带有比目鱼和甲壳虫肌肉弯曲的单位,由线性弹簧表示,在机器人的脚踝和膝关节周围充当一单弹性弹簧。我们测试了三个比目鱼和胃弹簧螺旋形构型对踝关节功率曲线的影响,脚踝和膝关节运动的协调,总运输成本和步行速度。我们用前馈中央模式发生器控制了机器人,在1.0Hz运动频率下,步行速度在0.35m/s和0.57m/s之间,腿长为0.35m。我们发现所有三种配置之间的差异。比目鱼弹簧刺刺调节机器人的速度和能量效率可能是通过踝关节扩增的,而胃弹簧式弹簧螺旋体则在推下时改变了脚踝和膝关节之间的运动配位。
Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers the swing leg catapult. However, the mechanics of the human lower leg with its complex muscle-tendon units spanning over single and multiple joints is not yet understood. Legged robots allow testing the interaction between complex leg mechanics, control, and environment in real-world walking gait. We developed a 0.49m tall, 2.2kg anthropomorphic bipedal robot with Soleus and Gastrocnemius muscle-tendon units represented by linear springs, acting as mono- and biarticular elastic structures around the robot's ankle and knee joints. We tested the influence of three Soleus and Gastrocnemius spring-tendon configurations on the ankle power curves, the coordination of the ankle and knee joint movements, the total cost of transport, and walking speed. We controlled the robot with a feed-forward central pattern generator, leading to walking speeds between 0.35m/s and 0.57m/s at 1.0Hz locomotion frequency, at 0.35m leg length. We found differences between all three configurations; the Soleus spring-tendon modulates the robot's speed and energy efficiency likely by ankle power amplification, while the Gastrocnemius spring-tendon changes the movement coordination between ankle and knee joints during push-off.