论文标题
使用动态耦合双击车轮模型，用于额外机器人腿的被动四倍步态同步
Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model
论文作者
论文摘要
额外的机器人腿（XRL）系统是由人类操作员佩戴的机器人增强，由两个铰接的机器人腿组成，它们与操作员一起行走，并有助于承担沉重的背包有效载荷。希望人类XRL四倍的系统与后腿行走的前部步行25％，从而最大程度地减少了由于脚部撞击而损失的能量，同时最大程度地提高了平衡稳定性。与四倍的机器人不同，XRL不能指挥人类的四肢来协调四倍的运动。使用一对无框车轮模型，显示系统与弹簧和阻尼器结合到所需的25％相位差。使用数值模拟生成了庞加莱的返回图，以检查与不同耦合器设计参数的收敛属性和初始条件。动态耦合的双击车轮系统通过弹簧和从理论结果中选择的仪表板进行了物理实现，并且初始实验表明，仅使用这组被动组件，可以在几个步骤中实现所需的同步性能。
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human's limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone.
