TY - JOUR
T1 - Dynamic stability of bio-inspired biped robots for lateral jumping in rugged terrain
AU - Zhang, Ziqiang
AU - Wang, Lun
AU - Liao, Jinnong
AU - Zhao, Jing
AU - Zhou, Zhenyong
AU - Liu, Xingkun
N1 - Funding Information:
This work was supported by the Beijing Municipal Education Commission, General Program of Science and Technology Development Project of Beijing Municipal Education Commission (Grant No. KM201910005032 ), National Natural Science Foundation of China (Grant No. 51805010 ), and China Postdoctoral Science Foundation (Grant No. 2019T120030 ).
Publisher Copyright:
© 2021
PY - 2021/9
Y1 - 2021/9
N2 - Bio-inspired jumping robots should achieve stable jumping in field environment. Robots easily lose stability because of the complex terrain and large speed change. Lateral jumping of the robot with four-bar jumping legs under rugged terrain was used as the research object, and a method to achieve good dynamic stability by adjusting the leg attitudes of the robot was proposed. The stability criteria were proposed hierarchically on the basis of the analysis of the jumping mechanism of creatures. Then, the dynamic model of the robot jumping on the slope was established, and the effect of different parameters on dynamic stability was analyzed to carry out the primary selection of parameters. Then, the method of maintaining dynamic stability was proposed. On the basis of ensuring large motion distances and stable driving torques, leg attitudes were considered the optimization parameters. Thus, the robot does not overturn or turn over uncontrollably in the take-off, buffering, and flight phases. Analysis results of robot jumping in plane and 3D space under different terrains prove the feasibility of this method. In particular, the dynamic stability of the robot is better if the take-off direction is considered an optimization parameter. The simulation results also proved the accuracy of the analysis results. The research results provide a theoretical basis to realize stable continuous jumping of bio-inspired biped robots.
AB - Bio-inspired jumping robots should achieve stable jumping in field environment. Robots easily lose stability because of the complex terrain and large speed change. Lateral jumping of the robot with four-bar jumping legs under rugged terrain was used as the research object, and a method to achieve good dynamic stability by adjusting the leg attitudes of the robot was proposed. The stability criteria were proposed hierarchically on the basis of the analysis of the jumping mechanism of creatures. Then, the dynamic model of the robot jumping on the slope was established, and the effect of different parameters on dynamic stability was analyzed to carry out the primary selection of parameters. Then, the method of maintaining dynamic stability was proposed. On the basis of ensuring large motion distances and stable driving torques, leg attitudes were considered the optimization parameters. Thus, the robot does not overturn or turn over uncontrollably in the take-off, buffering, and flight phases. Analysis results of robot jumping in plane and 3D space under different terrains prove the feasibility of this method. In particular, the dynamic stability of the robot is better if the take-off direction is considered an optimization parameter. The simulation results also proved the accuracy of the analysis results. The research results provide a theoretical basis to realize stable continuous jumping of bio-inspired biped robots.
KW - Bio-inspired robot
KW - Dynamic stability
KW - Lateral jumping
KW - Leg attitude
KW - Rugged terrain
UR - http://www.scopus.com/inward/record.url?scp=85104668819&partnerID=8YFLogxK
U2 - 10.1016/j.apm.2021.03.050
DO - 10.1016/j.apm.2021.03.050
M3 - Article
AN - SCOPUS:85104668819
SN - 0307-904X
VL - 97
SP - 113
EP - 137
JO - Applied Mathematical Modelling
JF - Applied Mathematical Modelling
ER -