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为了实现稳定跳跃步态,单足机器人需要持续补充能量以克服阻尼、碰撞等造成的能耗。该文针对腿部有阻尼的单足机器人,分析不同补能方式和补能时机对单足机器人竖直跳跃阻尼能耗的影响。理论分析和仿真实验结果表明:在支撑相单足机器人躯干上升阶段补能具有更高的补能效率,且补能起始位置越高、距起跳点越近,补能效率越高;在支撑相单足机器人躯干下降阶段补能会影响地面对足端的支持力,导致机器人站立不稳;如果在上升阶段补能,补能起始位置越高,补充相同能量时对驱动器峰值驱动力及峰值驱动功率要求越高。该研究结果为跳跃补能策略选择以及设计高效跳跃机器人控制器提供了参考。
In order to achieve stable jumping gait, single-legged robots need to continuously replenish energy to overcome the energy consumption caused by damping, collision and so on. In this paper, a single-legged robot with a damped leg is studied, and the effect of different energizing modes and energizing timing on the energy consumption of a single-legged robot in vertical jump damping is analyzed. The theoretical analysis and simulation results show that, in the ascending phase of the monopod-type robot, the energy recovery is higher and the higher the initial position of the energy supplement is, the closer it is to the take-off point, the higher the energy recharging efficiency is. In the ascending phase, the higher the starting position is, the higher the driving force of the driver when the same energy is added and the other is the driving force of the driver. The higher the peak drive power requirement. The results of this study provide a reference for jumping re-energization strategy selection and designing efficient jumping robot controllers.