Optimization and evaluation of swing leg retraction for a hydraulic biped robot

被引：6

作者：

Chen, Guangrong ^{[1
,3
]}

Wei, Ningze ^{[1
]}

Lu, HuaFeng ^{[1
]}

Yan, Lei ^{[1
]}

Li, Jin ^{[2
]}

机构：

[1] Beijing Jiaotong Univ, Robot Res Ctr, Sch Mech Elect & Control Engn, Beijing, Peoples R China

[2] China Natl Intellectual Property Adm, Machinery Dept Patent Off, Beijing, Peoples R China

[3] Beijing Jiaotong Univ, Robot Res Ctr, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China

来源：

JOURNAL OF FIELD ROBOTICS | 2023年 / 40卷 / 06期

基金：

中国国家自然科学基金;

关键词：

evaluation; legged robots; locomotion performance; optimization; spring load inverted pendulum; swing leg retraction;

D O I：

10.1002/rob.22190

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

To improve the locomotion performance of legged robots, the swing leg retraction (SLR) technique is investigated in a hydraulic biped robot. First, the influence of SLR on the locomotion performance of the hydraulic biped robot is analyzed in theory and simulations based on an extended spring load inverted pendulum model. The influence contains three performance indicators: energy loss/effiency, friction/slipping, and impact/compliance. Second, by synthesizing three performance indicators, using unified objective method and particle swarm optimization algorithm, the optimal SLR rate for gait planning based on Bezier curve is addressed. Finally, experiments are implemented to validate the effectiveness and feasibility of proposed method. And, the results show that the SLR technique is useful to reduce the impact force, improve the robot's locomotion stability and make room for impedance performance improvement of compliance controller. This research provides an insight for locomotion control of hydraulic legged robots.

引用

页码：1525 / 1542

页数：18

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