A free gait algorithm for quadrupedal walking machines

A free gait is a computer generated, rule-based gait for a walking machine to walk on rough terrain. Based on a given terrain map, the gait algorithm selects footholds for leg placements and determines the movements of legs and body. In the past, a few free gaits for hexapods have been developed. For quadrupeds, the only report on free gait was briefly mentioned in a paper by Hirose [Int. J. Robotics Res., 3(2) (1984)]. In this paper, a free gait algorithm for a quadrupedal walking chair is developed. For quadrupeds, the stability margin is small due to a small number of legs and the choices of a leg to be lifted are limited. Hence, deadlock situations may occur quite often. Many special techniques are incorporated into the algorithm in order to reduce deadlocks. This free gait algorithm adopts the wave-crab gaits as the primary gait because they are periodic and can provide good stability. The algorithm also adopts a non-periodic free gait to handle terrain with higher concentration of forbidden areas. This algorithm is evaluated under different terrain conditions using computer simulations. The results show that the performance is satisfactory on randomly generated rough terrain and needs improvement on manually generated rough terrain.     

A dynamic gait stabilization algorithm for quadrupedal locomotion through contact time modulation

In this paper, we propose a stabilization method for dynamic gaits of quadrupedal walking robots covering a wide range of speeds and various types of gait. Our stabilization method is based on adjusting the contact time between the four legs and ground. By modulating the contact time, the impact applied to the body can be controlled and stabilized. The stability provided by the proposed algorithm was proved in the sense of Lyapunov. The proposed algorithm also demonstrated robust performance under large external disturbances, and the performance was compared with other algorithms through simulations. Simulation results of bounding gaits under different ground conditions were compared, and the various types of stable gait implemented by the proposed algorithm are also presented.

     

LCP method for a planar passive dynamic walker based on an event-driven scheme

The main purpose of this paper is to present a linear complementarity problem (LCP) method for a planar passive dynamic walker with round feet based on an event-driven scheme. The passive dynamic walker is treated as a planar multi-rigid-body system. The dynamic equations of the passive dynamic walker are obtained by using Lagrange’s equations of the second kind. The normal forces and frictional forces acting on the feet of the passive walker are described based on a modified Hertz contact model and Coulomb’s law of dry friction. The state transition problem of stick-slip between feet and floor is formulated as an LCP, which is solved with an event-driven scheme. Finally, to validate the methodology, four gaits of the walker are simulated: the stance leg neither slips nor bounces; the stance leg slips without bouncing; the stance leg bounces without slipping; the walker stands after walking several steps.     

四连杆膝关节假肢的动力学建模与分析

相比于单轴式膝关节,四连杆膝关节具有更好的仿生特性和运动安全性,因而在下肢假肢研究中得到广泛关注. 本研究以一款四连杆膝关节被动假肢为研究对象,主要关注足-地交互作用力以及膝关节单边接触力等强非线性因素对下肢假肢步态的影响. 为此,采用 Kelvin-Voigt 模型和库伦模型描述足-地接触力和摩擦力,并采用 Kelvin-Voigt 模型描述膝关节单边接触力,从而基于第一类拉格朗日方程建立假肢动力学模型. 本研究以步态实验测得的髋关节运动数据为模型的驱动信号,针对假肢的步态特征进行了数值分析. 计算结果显示,当膝关节液压阻尼器的刚度较小时,强非线性作用力会使假肢产生显著的亚谐波响应,进而导致步态周期失谐. 进一步研究发现,提胯行为能够避免步态周期失谐,这也为残疾人行走时的提胯等代偿行为提供了一种新的力学解释. 为了评价假肢步态与健康人实测步态的一致性,本研究进一步定义了步态相关系数并分析了膝关节液压阻尼器刚度、阻尼参数对相关系数的影响. 结果表明,通过合理的刚度、阻尼参数设计,两者步态的相关系数可达到 0.9 以上,这为四连杆膝关节被动假肢进一步优化提供了理论支撑.      

DYNAMIC MODELING AND ANALYSIS OF THE LOWER LIMB PROSTHESIS WITH FOUR-BAR LINKAGE PROSTHETIC KNEE$^{\bf 1)}$

相比于单轴式膝关节,四连杆膝关节具有更好的仿生特性和运动安全性,因而在下肢假肢研究中得到广泛关注. 本研究以一款四连杆膝关节被动假肢为研究对象,主要关注足-地交互作用力以及膝关节单边接触力等强非线性因素对下肢假肢步态的影响. 为此,采用 Kelvin-Voigt 模型和库伦模型描述足-地接触力和摩擦力,并采用 Kelvin-Voigt 模型描述膝关节单边接触力,从而基于第一类拉格朗日方程建立假肢动力学模型. 本研究以步态实验测得的髋关节运动数据为模型的驱动信号,针对假肢的步态特征进行了数值分析. 计算结果显示,当膝关节液压阻尼器的刚度较小时,强非线性作用力会使假肢产生显著的亚谐波响应,进而导致步态周期失谐. 进一步研究发现,提胯行为能够避免步态周期失谐,这也为残疾人行走时的提胯等代偿行为提供了一种新的力学解释. 为了评价假肢步态与健康人实测步态的一致性,本研究进一步定义了步态相关系数并分析了膝关节液压阻尼器刚度、阻尼参数对相关系数的影响. 结果表明,通过合理的刚度、阻尼参数设计,两者步态的相关系数可达到 0.9 以上,这为四连杆膝关节被动假肢进一步优化提供了理论支撑.     

基于应力集中分析的钻杆内加厚过渡结构设计

通过讨论钻杆内加厚过渡带结构参数对其应力集中系数的影响,提出了实现钻杆内加厚过渡部位低应力集中设计的基本条件,并用钻杆实物疲劳试验对上述分析结果进行了验证,这一工作为改进钻杆内加厚过渡带结构设计提供了重要依据。     

高空长航时无人机高升阻比两段翼型设计研究

针对某特定无人机的使用设计要求,在单段翼型设计研究的基础上,尝试了高升阻比低雷诺数两段翼型的设计方法的分析与研究.采用求解椭圆型方程加控制点约束条件的"椭圆-控制点切割法"完成了两段翼型外形的生成,并针对巡航构型的襟翼偏角对缝道参数进行了优化;应用MSES计算分析程序对所设计的两段翼型的气动特性进行了分析评估.计算结果表明:本文所设计的两段翼型的最大升力系数达到2.72,最大升阻比为158.71;与原始单段翼型相比,最大升力系数增大了74.35%,最大升阻比增大了28.64%.     

Asymmetric three-link passive walker

Passive walkers are dynamically stable robots with a gait that resembles the human locomotion. These walkers can be studied to better understand the dynamic behavior of the human gait and design efficient active walkers and assistive devices. In this paper, we study the walking dynamics of a three-link passive walker with an asymmetrical structure where one leg has a knee while the other is knee-less. After finding a 2-periodic steady gait for the three-link walker with humanlike inertial parameters for both legs, the possibility of a gait with symmetrical step lengths is discussed where the half inter-leg angles at the beginning of every step are made equal by altering the physical parameters of the knee-less leg. We further study the gaits with symmetrical step lengths and show that by replacing one leg of a four-link symmetric walker with the knee-less leg of the three-link walker with the symmetrical half inter-leg angles, the dynamic behavior of the kneed leg remains unchanged. This approach can be adapted in the field of gait rehabilitation and prosthesis design to obtain a more symmetrical gait and preserve the motion of the healthy leg.

     

3D Passive Walkers: Finding Periodic Gaits in the Presence of Discontinuities

This paper studies repetitive gaits found in a 3D passivewalking mechanism descending an inclined plane. By using directnumerical integration and implementing a semi-analytical scheme forstability analysis and root finding, we follow the corresponding limitcycles under parameter variations. The 3D walking model, which is fullydescribed in the paper, contains both force discontinuities andimpact-like instantaneous changes of state variables. As a result, thestandard use of the variational equations is suitably modified. Theproblem of finding initial conditions for the 3D walker is solved bystarting in an almost planar configuration, making it possible to useparameters and initial conditions found for planar walkers. The walkeris gradually transformed into a 3D walker having dynamics in all spatialdirections. We present such a parameter variation showing the stabilityand the amplitude of the hip sway motion. We also show the dependence ofgait cycle measurements, such as stride time, stride length, averagevelocity, and power consumption, on the plane inclination. The paperconcludes with a discussion of some ideas on how to extend the present3D walker using the tools derived in this paper.     

Optimisation of two-dimensional undulatory swimming at high Reynolds number

The propulsion performance of a flexible plate undergoing an arbitrary harmonic motion in a two-dimensional and inviscid fluid is addressed. This plate being free of external forces, heaving and pitching cannot be imposed and are the results of recoil conditions on the body. Linear unsteady airfoil theory is first used to calculate the average thrust and power required for swimming. The propulsive performance is then discussed in terms of hydrodynamic efficiency, energy consumption and average swimming speed and two different asymptotic regimes are identified: the low-velocity regime and the high-velocity regime. The optimal swimming gaits are calculated in the different regimes as a function of the plate mass ratio and leading-edge suction. Finally an empirical non-linear model is proposed to complement the linear model and the optimal swimming modes are calculated and discussed within this framework. For a fixed number of degrees of freedom, it is found that the Strouhal number of the optimal mode is almost constant, independently of the swimming regime.     

The Effect of Limb Kinematics on the Speed of a Legged Robot on Granular Media

Achieving effective locomotion on diverse terrestrial substrates can require subtle changes of limb kinematics. Biologically inspired legged robots (physical models of organisms) have shown impressive mobility on hard ground but suffer performance loss on unconsolidated granular materials like sand. Because comprehensive limb–ground interaction models are lacking, optimal gaits on complex yielding terrain have been determined empirically. To develop predictive models for legged devices and to provide hypotheses for biological locomotors, we systematically study the performance of SandBot, a small legged robot, on granular media as a function of gait parameters. High performance occurs only in a small region of parameter space. A previously introduced kinematic model of the robot combined with a new anisotropic granular penetration force law predicts the speed. Performance on granular media is maximized when gait parameters utilize solidification features of the granular medium and minimize limb interference.     

An analysis of vehicle power requirements in deep snowpack

Power requirements for tracked vehicles moving in deep medium-to-high density snow are calculated. A volumetric constitutive law is used to determine the energy absorbed by the pressure bulb under the vehicle. Also shearing effects along the pressure bulb wall and in the pressure bulb are taken into account. A parametric study is made to determine the effect of initial density, track pressure, vehicle speed and track geometry on track efficiency. The results show that if the snow material properties are expressible in terms of a constitutive law, the method presented can be of considerable use for predicting certain aspects of vehicle performance in snow and for evaluating the structure of the pressure bulb below the vehicle track.     

基于步态切换的欠驱动双足机器人控制方法

由于高维、非线性、欠驱动等特点, 3-D双足机器人的稳定性控制依然是一个研究难点. 一些传统的控制方法, 如基于事件的反馈控制方法和PD控制方法, 抗扰动能力较弱, 鲁棒性较差. 通过观察, 人类受到外部扰动影响时, 会通过调整步态重新获得稳定性,相较之下仅依靠一个步态获得的稳定性是有限的. 受此启发, 本文针对上述问题提出一种基于步态切换的欠驱动3-D双足机器人控制方法. 首先, 以能耗最少为优化目标, 通过非线性优化方法预先设计多组不同步长、步速的步态作为参考步态, 以构建一个步态库; 然后, 通过综合考虑步态切换过程中的稳定性与能效, 建立了多目标步态切换函数; 最后, 将该步态切换函数作为优化目标, 并求解该最小化问题获得下一步的参考步态, 从而实现步态切换, 达到使用步态库?多轨迹方法来提高鲁棒性的目的. 在仿真实验中运用该步态切换控制方法, 欠驱动3-D双足机器人可实现相对高度在[-20, 20] mm内随机变化的不平整地面上行走, 而仅采用单步态控制策略则无法克服这样的外部扰动, 从而说明了基于步态切换的欠驱动双足机器人控制方法的有效性.      

Some flower-like gaits in the snakeboard’s locomotion

The snakeboard is a modified version of the skateboard in which the front and back pairs of wheels can pivot freely about a vertical axis (see Fig. 1). The rider can generate motion by coupling a turning of his/her feet which lie on wheel platforms with an appropriate twisting of his/her body without kicking off the ground. The snakeboard was first presented in details by [Lewis et al., in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, USA, May 1994, pp. 2391–2400]. In literature, it also has been studied as a prototype of the symmetrical nonholonomic locomotion systems. Geometrical modeling, finding the gaits, presenting the controllability ideas and designing desired trajectories are the subjects that can be found in the literature of the snakeboard. In this paper, we present some symmetric sensitive flower-like gaits for the snakeboard by suitable tuning of the input parameters. The highly symmetric patterns generated by these gaits, besides their inherent beauty, sensitivity to parameter variations and coherency; exemplify the rich information content of the underlying nonlinear system.     

Efficient parametric excitation walking with delayed feedback control

In passive dynamic walking proposed by McGeer, mechanical energy lost by heel strike is restored by transporting potential energy to kinetic energy as walking down a slope. When energy input is larger as a slope is steeper, the bifurcation of a walking cycle occurs. In the parametric excitation walking, which is to realize passive dynamic-like walking on the level ground, the bifurcation of a walking cycle has also been observed when walking speed is fast. Recently, Asano et al. have shown that bifurcation exerts an adverse influence upon walking performance by using a rimless wheel model. In this paper, we apply the delayed feedback control (DFC), originally used in chaos control, to parametric excitation walking to suppress bifurcation. We show in numerical simulation that the proposed method makes period-two walking to period-one walking, and improves energy efficiency. In addition, the proposed method can generate a sustainable gait in the region where a biped robot cannot walk without DFC. The analyses using a Poincaré map reveal that period-one walking with DFC corresponds to an unstable periodic orbit and reveal that a robot model in this paper satisfies the sufficient condition of applicability of DFC.     

ZMP based neural network inspired humanoid robot control

This paper concerns ZMP-based control that is inspired by artificial neural networks for humanoid robot walking on varying sloped surfaces. Humanoid robots are currently one of the most exciting research topics in the field of robotics, and maintaining stability while they are standing, walking or moving is a key concern. To ensure a steady and smooth walking gait of such robots, a feedforward type of neural network architecture, trained by the back-propagation algorithm, is employed. The inputs and outputs of the neural network architecture are the ZMPx and ZMPy errors of the robot, and the x, y positions of the robot, respectively. The neural network developed allows the controller to generate the desired balance of the robot positions, resulting in a steady gait for the robot as it moves around on a flat floor, and when it is descending or ascending slopes. In this paper, experiments of humanoid robot walking are carried out, in which the actual position data from a prototype robot are measured in real-time situations, and fed into a neural network inspired controller designed for stable bipedal walking. In addition, natural walking motions on the different surfaces with varying slopes are obtained and the performance of the resulting controller is shown to be satisfactory.     

3D-Simulation of human walking by parameter optimization

The simulation of human gait is a complex dynamical problem that requires accounting for energy consumption as well as dealing with a redundantly actuated multibody system. If muscle forces and generalized coordinates are parameterized, optimization techniques allow the simulation of the muscle forces and of the walking motion. An optimization framework is presented for non-symmetrical gait cycles found in the presence of one-sided gait disorders. The motion of each leg is independently parameterized for a whole walking cycle. The non-linear constraints used to fulfill the equations of motion and the kinematical constraints of the different walking phases are implemented in an efficient way. Fifth-order splines are used for the parameterization to reduce the oscillatory behavior coming from non-periodicity conditions. To achieve the computational performance required for three-dimensional simulations, the spline interpolation problem has been split in two parts, one is performed in a preprocessing stage and the other during the optimization. Numerical differentiation via finite differences is avoided by implementing analytical derivatives of the splines functions and of the contractile element force law. The results show good numerical performance, and the computational efficiency for 3D-simulations with one-sided gait disorders is highlighted.     

基于气动特性翼型参数化方法的适用性研究

翼型的优化设计在飞机的研发生产过程中占据相当重要的地位,因为翼型的几何外形会直接影响到飞机的整体气动性能．合理选择恰当的翼型表达方式是翼型优化设计成功的关键之一,其中,参数化方法在近年来得到了广泛应用．针对翼型参数化方法,提出“几何鲁棒性”和“性能鲁棒性”作为评判方法优劣的重要参考标准．选取三种常用的翼型参数化方法--NURBS、CST和PARSEC方法,七种不同类型的翼型,采用四项指标作为系统的评判准则来研究各方法的拟合精度与多点扰动下的几何鲁棒性,并利用Foil Design软件计算气动性能的相关数据,研究各方法在多点扰动下的性能鲁棒性．经对比分析,这三种参数化方法对大部分翼型均具有良好的表达能力,且不同程度地体现了一定的几何鲁棒性与性能鲁棒性．     

Effect of geometry upon the performance of a thin film ferroelectric capacitor

The finite element method is used to investigate the performance of a ferroelectric random access memory as a function of its geometry. Performance is characterised by the charge versus electric field relation, and the sensitivity of performance to geometry is explored. The primary geometric variables are the dimensions of a prismatic two-dimensional (2D) island of ferroelectric material, and the edge inclination angle caused by the etching process along the sides of the island. The performance of the two-dimensional ferroelectric device is compared to those of an unsupported ferroelectric thin film and of a ferroelectric film bonded to a substrate.     

Stability and local bifurcation analyses of two-wheeled trailers considering the nonlinear coupling between lateral and vertical motions

Nonlinear Dynamics - Multistability is an area of interest in robotics and locomotion because the ability to achieve multiple configurations or generate multiple gaits allows a single robotic or...