双足机器人步态控制研究方法综述

概括地介绍了双足机器人步态控制领域内的主要研究思路．详细阐述了基于双足动力学特征的3种建模方法,包括倒立摆模型、被动步态模型、质量弹簧模型的特点．另外讨论了两种常用的约束条件(稳定判据与能量约束)和3种智能控制方法(神经元理论、模糊逻辑与遗传算法)在双足机器人步态控制中的研究情况．     

双足溜冰机器人直线滑行动力学分析

利用轮滑原理,研制出双足从动轮式溜冰机器人(BISR),简要介绍了机器人运动原理与结构特点。根据机器人实现“葫芦步”直线滑行的步态设计,提出了机器人的简化运动模型。运用非完整约束存在时的Routh方程推导出机器人以“葫芦步”直线滑行时的动力学微分方程,给出实际算例进行了计算机仿真和实验。最后,得出了相关结论。     

Online gait programming of humanoid walking via NMPC

In order to satisfy the requirement of realtime gait programming of humanoid walking with foot rotation,a kind of modified Nonlinear Model Predictive Control (NMPC) scheme was proposed. Based on setting suitable kinetic and kinematic virtual constraints of Single Support Phase (SSP) and three subphases of Double Support Phase (DSP) ,complex realtime gait programming problem was simplified to four online NMPC dynamic optimization problems. A numerical approach was proposed to transform the dynamical optimization problem to the finite dimensional static optimization problem which can be solved by Sequential Quadratic Programming (SQP) . It can be concluded from simulation that using this method on BIP model can realize online gait programming of dynamic walking with foot rotation and the biped stability can be satisfied such that there is no sliding during walking.     

Tail pinching-induced hindlimb movements are suppressed by clonidine in spinal cord injured mice.

Experiments in completely spinal cord transected (Tx) cats have provided compelling evidence that clonidine combined with tail stimulation can promote locomotor function recovery. However, clonidine has generally failed to induce locomotor activity in other comparable animal models suggesting the existence of species- or condition-specific effects. This study aimed at investigating the effects of clonidine administered (0.25 or 5.0 mg/kg, i.p.) in mice during tail pinching in early (6-7 days post-Tx) or late (41-42 days post-Tx) paraplegic animals (Th9/10 level). Comparisons were made with the effects induced by 8-OH-DPAT (1.0 mg/kg, i.p.), a 5-HT1A/7 receptor agonist known to display prolocomotor effects. Clonidine with or without tail pinching failed to induce hind limb movements and even suppressed the frequency of spontaneously occurring nonlocomotor (NLM) and locomotor-like movements (LM) whereas tail pinching alone (prior to clonidine administration) increased the frequency of spontaneous movements specifically in late chronic animals. In turn, 8-OH-DPAT clearly induced hind limb movements that remained relatively unchanged during tail pinching. Altogether, the results suggest that the prolocomotor effects of clonidine reported elsewhere must depend upon stimuli or factors that remain to be identified. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

The three-dimensional locomotor dynamics of African (Loxodonta africana) and Asian (Elephas maximus) elephants reveal a smooth gait transition at moderate speed

We examined whether elephants shift to using bouncing (i.e. running) mechanics at any speed. To do this, we measured the three-dimensional centre of mass (CM) motions and torso rotations of African and Asian elephants using a novel multisensor method. Hundreds of continuous stride cycles were recorded in the field. African and Asian elephants moved very similarly. Near the mechanically and metabolically optimal speed (a Froude number (Fr) of 0.09), an inverted pendulum mechanism predominated. With increasing speed, the locomotor dynamics quickly but continuously became less like vaulting and more like bouncing. Our mechanical energy analysis of the CM suggests that at a surprisingly slow speed (approx. 2.2 m s(-1), Fr 0.25), the hindlimbs exhibited bouncing, not vaulting, mechanics during weight support. We infer that a gait transition happens at this relatively slow speed: elephants begin using their compliant hindlimbs like pogo sticks to some extent to drive the body, bouncing over their relatively stiff, vaulting forelimbs. Hence, they are not as rigid limbed as typically characterized for graviportal animals, and use regular walking as well as at least one form of running gait.     

Footholds optimization for legged robots walking on complex terrain

This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains. The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrain. By relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithm converts the discrete grid heightmap into a continuous costmap. Then, it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion. Compared with most existing footholds selection algorithms that rely on discrete enumeration search, as far as we know, the proposed algorithm is the first to use a continuous optimization method. We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain.     

仿生双足水上行走机器人优化设计及控制方法

研究一种新型双足水上行走机器人推进机构及控制方法。借鉴蛇怪蜥蜴双足水上行走功能,分析双足机器人水上行走动力学机理;结合平面四杆机构运动和坐标转换公式,分析Watt-I型机构运动方程,用以模拟蛇怪蜥蜴的脚掌轨迹,设计双足水上行走机器人推进机构,建立机器人的虚拟样机模型并进行机构优化设计;设计机器人的中枢模式发生器(Central pattern generator,CPG)控制器和模糊控制器并进行参数分析,提出双足水上行走机器人的CPG-模糊控制方法,完成机器人控制系统的搭建,进行仿真验证;制作出双足水上行走样机,进行双足机器人水上行走试验,测得推进机构的作用力曲线;在平衡装置不工作和工作情况下分别测量机器人水上行走过程中的实时偏角,并进行比较。试验结果表明推进机构及控制方法满足双足机器人水上行走要求。     

基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

Effects of free-choice pasture access on lameness recovery and behavior of lame dairy cattle

Lameness is a common condition in dairy cows. Free-choice access to pasture may benefit lame cows by providing a softer and more comfortable lying and standing surface; however, the effects of this system on lameness have not yet been explored. We evaluated whether a 7-wk period of free-choice pasture access would improve lameness recovery and affect the lying behavior of lame dairy cows. Lactating Holstein cows, all clinically lame upon enrollment and housed inside a freestall barn, were pseudo-randomly allocated to 1 of 2 treatments (balancing for gait score, parity, and previous lameness history): free-choice access to pasture (n = 27; pasture) or indoor housing only (n = 27; indoor). Cows were gait scored weekly by an observer blind to treatment, using a 5-point numerical rating system (NRS 1 = sound, NRS 5 = severely lame), and hoof inspections were performed by professional trimmers at the start and end of the 7-wk period. Lying behavior was assessed using accelerometers. Cows were categorized as either having a sound period (NRS <2 over 2 consecutive weeks) or remaining lame. Cows spent, on average, 14.8 ± 10.0% (mean ± SD) of their total time on pasture, with much of this time spent outside at night. Over the 7-wk period, 42% of cows had at least one sound period (pasture: 55.6%, indoor: 26.9%), but this was more likely for cows with pasture access (odds ratio = 4.1; 95% confidence interval: 1.1–14.6%). Pasture cows also spent more total weeks sound compared with indoor cows (2.0 ± 0.34 vs. 0.81 ± 0.35 wk). Cows with pasture access lay down for less overall time than indoor cows (13.9 ± 0.29 vs. 12.7 ± 0.28 h/d) and spent more time standing on pasture (74%) than when indoors (47%). These results suggest that lame dairy cows will use pasture when provided with free-choice access, primarily at night, and that access to pasture aids in lameness recovery. We encourage future research to investigate longer-term effects on the recovery of hoof lesions and reoccurrence of lameness cases.     

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Frontiers of Mechanical Engineering - Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and...