在肌肉骨跳跃机器人中提高姿势稳定性,通过在双关节大腿肌肉上应用伸展反射来提高姿势稳定性
Ryu Takahashi1, Yuki Murakami1, Koh Hosoda1,2
1Adaptive Robotics Laboratory, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan.
Frontiers in robotics and AI
|December 11, 2023
概括
这项研究通过模仿人类双关节大腿肌肉激活来增强机器人跳跃稳定性. 整合了伸展反射系统,使腿类机器人的连续跳跃翻了一番,并改善了姿势控制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 控制系统 控制系统
背景情况:
- 在跳跃等动态运动期间,在有腿的机器人中保持姿势稳定是一个重大挑战.
- 人类的运动利用双关节大腿肌肉的强烈激活来保持稳定.
研究的目的:
- 通过模仿人类双关节大腿肌肉激活来增强跳跃机器人的姿势稳定性.
- 在一个由气动人工肌肉 (PAM) 驱动的机器人中研究面向紧张的伸展反射系统的有效性.
主要方法:
- 设计了一种带有气动人工肌肉 (PAM) 的腿类机器人,以模仿人类解剖学.
- 开发了一种面向紧张的伸展反射系统,以激活肌肉对扰动的反应.
- 进行了实验,以评估车角,跳跳一致性和反射力平衡.
主要成果:
- 整合拉伸反射使扰动最小化,使机器人能够执行两倍的连续跳跃.
- 在双关节大腿肌肉中调整反射强度平衡影响了车俯仰角.
- 伸展反射系统在跳跃时显著改善了姿势稳定性.
结论:
- 开发的伸展反射机制增强了PAM驱动跳跃机器人的姿势稳定性.
- 这种方法提供了一种有前途的策略,用于改善腿类机器人的运动,包括行走和跑步.
- 模仿人类生理原理是提高机器人运动能力的有效方法.
相关概念视频
01:27Exercise and Muscle Performance
Exercise induces a range of adaptations in muscle tissue, depending on the type and duration of activity. Such physical training can be broadly categorized into two types: endurance exercises and resistance exercises.
Endurance exercises
Endurance exercises involve running, swimming, or cycling, which require repetitive movements with low force output. When a person engages in endurance exercise, a few noticeable changes occur in their skeletal muscles. For instance, the number of capillaries...
Endurance exercises
Endurance exercises involve running, swimming, or cycling, which require repetitive movements with low force output. When a person engages in endurance exercise, a few noticeable changes occur in their skeletal muscles. For instance, the number of capillaries...
01:23Muscles that Move the Leg
The movement of the legs is facilitated by numerous muscles located within the anterior, medial, and posterior compartments of the thigh.
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed to...
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed to...