摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的最新研究结果已经发表。根据中国人民报西安的新闻报道，NewsRx记者的研究表明：“实现节能型腿式机器人运动的动态适应性是一个长期的挑战。尽管最近基于单刚体模型的预测控制方法可以产生动态运动，但它们都假设了无限的能量，不适合长时间的机器人操作。”本研究的资助单位包括国家自然科学基金(NSFC)、哈尔滨理工大学机器人与系统国家重点实验室、中央大学基础研究基金。我们的新闻编辑引用了长安大学的研究，为了解决这一问题,需要一种具有储能功能的机械结构和一种结合反馈保证稳定性的动态控制策略.本文从仿生肌肉腱网的效率出发,提出了一种可控扭簧腿结构.该结构集成了弹簧加载倒立摆模型,采用反馈延迟和屈服弹簧来增强延迟效应.为了验证带弹性关节腿的响应和动态性能,建立了r载荷模型,该模型向膝关节提供力矩,通过主动或被动控制策略有效地降低了机器人的能耗.
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics have been published. According to news reporting originating from Xi'an, People's Re public of China, by NewsRx correspondents, research stated, "Achieving dynamic c ompliance for energy-efficient legged robot motion is a longstanding challenge. Although recent predictive control methods based on single-rigid-body models can generate dynamic motion, they all assume infinite energy, making them unsuitabl e for prolonged robot operation." Financial supporters for this research include National Natural Science Foundati on of China (NSFC), State Key Laboratory of Robotics and Systems, Harbin Institu te of Technology, China, Fundamental Research Funds for Central Universities, Ch ina. Our news editors obtained a quote from the research from Chang'an University, "A ddressing this issue necessitates a mechanical structure with energy storage and a dynamic control strategy that incorporates feedback to ensure stability. This work draws inspiration from the efficiency of bio-inspired muscle-tendon networ ks and proposes a controllable torsion spring leg structure. The design integrat es a spring-loaded inverted pendulum model and adopts feedback delays and yield springs to enhance the delay effects. A leg control model that incorporates moto r loads is developed to validate the response and dynamic performance of a leg w ith elastic joints. This model provides torque to the knee joint, effectively re ducing the robot's energy consumption through active or passive control strategi es."
NETL
NSTL