仿生工程学报 ›› 2017, Vol. 14 ›› Issue (2): 202-217.doi: 10.1016/S1672-6529(16)60391-8
A Parallel Actuated Pantograph Leg for High-speed Locomotion
Wei Guo, Changrong Cai, Mantian Li, Fusheng Zha, Pengfei Wang, Kenan Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
A Parallel Actuated Pantograph Leg for High-speed Locomotion
Wei Guo, Changrong Cai, Mantian Li, Fusheng Zha, Pengfei Wang, Kenan Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
摘要： High-speed running is one of the most important topics in the field of legged robots which requires strict constraints on structural design and control. To solve the problems of high acceleration, high energy consumption, high pace frequency and ground impact during high-speed movement, this paper presents a parallel actuated pantograph leg with an approximately decoupled configuration. The articulated leg features in light weight, high load capacity, high mechanical efficiency and structural stability. The similarity features of force and position between the control point and the foot are analyzed. The key design parameters, K1 and K2, which concern the dynamic performances, are carefully optimized by comprehensive evaluation of the leg inertia and mass within the maximum foot trajectory. A control strategy that incorporates virtual Spring Loaded Inverted Pendulum (SLIP) model and active force is also proposed to test the design. The strategy can implement highly flexible impedance without mechanical springs, which substantially simplifies the design and satisfies the variable stiffness requirements during high-speed running. The rationality of the structure and the effectiveness of the control law are validated by simulation and experiments.