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以自行车为灵感的简单平衡控制方法,用于高速运行的四足机器人

Shoei Hattori^1,2,3,4, Shura Suzuki², Akira Fukuhara²

¹Division for Interdisciplinary Advanced Research and Education, Tohoku University, Sendai, Japan.

Frontiers in robotics and AI

|January 21, 2025

概括

四肢机器人可以通过使用自行车启发的转控制来实现稳定,高速的机动. 这种方法通过利用离心力来提高灵活性和稳健性,以实现动态平衡.

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:

自行车使用方向盘来保持平衡和机动.
四足机器人经常在动态稳定和敏捷转方面扎.

研究的目的:

为了研究四足机器人的自行车启发的转向控制.
为了提高机器人的稳定性,速度和机动性.

主要方法:

实现了一个类似于自行车手柄的转向干接头.
进行模拟来测试机动和干扰排斥.

主要成果:

实现了稳定的高速移动.
证明了对抗外部干扰的强度.
启用了方向变化,速度损失最小.

结论:

以自行车为灵感的控制有效地提高了四足机器人的敏捷性.
离心力是敏捷移动的关键,模仿形动物.
这种方法提供了一种简单的方法来提高机器人的稳定性和机动性.

关键词:

灵感来自自行车的控制.高速运行运行高速运行高速旋转转向的高速旋转没有模型的动态平衡控制.一个四足的机器人.

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