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相关概念视频

Torsional Pendulum01:09

Torsional Pendulum

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A torsional pendulum involves the oscillation of a rigid body in which the restoring force is provided by the torsion in the string from which the rigid body is suspended. Ideally, the string should be massless; practically, its mass is much smaller than the rigid body's mass and is neglected.
As long as the rigid body's angular displacement is small, its oscillation can be modeled as a linear angular oscillation. The amplitude of the oscillation is an angle. The role of mass is played...
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相关实验视频

Updated: May 10, 2025

Simulation of Human-induced Vibrations Based on the Characterized In-field Pedestrian Behavior
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基于非线性轮弹装载反向摆筒的跳跃控制模型:验证一台具有单个自由度腿的轮式双脚机器人.

Jingsong Gao1, Hongzhe Jin1, Liang Gao1

  • 1School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080, China.

Biomimetics (Basel, Switzerland)
|April 25, 2025
PubMed
概括
此摘要是机器生成的。

这项研究介绍了轮式双脚机器人 (WBR) 的优化虚拟模型和轨迹规划,显著增加了跳跃高度和稳定性. 新方法确保实体机器人实时执行,克服了以前方法的局限性.

关键词:
跳跃控制器可以控制跳跃.非线性弹是一种非线性弹.轨道规划 轨道规划 轨道规划有车轮的双脚机器人

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相关实验视频

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 机械工程 机械工程
  • 控制系统 控制系统

背景情况:

  • 轮式双脚机器人 (WBR) 需要强大的跳跃能力,以在非结构化的环境中导航.
  • 现有的WBR轨迹规划方法是计算密集的,并且由于高的联合输出需求,限制了实验验证.
  • 与轨迹跟踪性能平衡计算负载仍然是WBR跳转控制的一个关键挑战.

研究的目的:

  • 开发一个优化的虚拟模型,轨迹规划策略和控制方法,以提高WBR的跳跃高度和稳定性.
  • 在物理机器人平台上实现跳跃轨迹的实时执行.
  • 通过先进的跳跃能力来提高WBRs的环境适应性.

主要方法:

  • 提出了一个非线性轮弹加载倒置摆形 (NW-SLIP) 模型用于虚拟轨迹规划,灵感来自人类跳跃.
  • 采用二次编程 (QP) 和二分法来优化基于NW-SLIP模型衍生出的成本函数的跳跃轨迹.
  • 将腿部静态模型与动力学模型集成在一起,将虚拟模型映射到关节空间,绕过复杂的动力学计算.

主要成果:

  • 与使用NW-SLIP模型的线性弹模型相比,跳跃高度增加了3.4倍.
  • 通过轨迹优化,最大跳跃高度增加了21.5%,同时峰值联合扭矩减少了14%.
  • 在模拟和现实世界的实验中证明了改进的轨迹跟踪性能,跳跃一致性和稳定性.

结论:

  • 拟议的NW-SLIP模型和优化策略显著提高了WBR跳跃性能.
  • 开发的方法有效地平衡了计算负载和轨迹跟踪,促进了对物理机器人的实际实施.
  • 经过验证的方法提供了一种可行和有效的解决方案,用于改善WBR在具有挑战性的地形上的导航.