论文标题
执行器机械损失对腿部机器人运动方程的动态效果
The dynamic effect of mechanical losses of actuators on the equations of motion of legged robots
论文作者
论文摘要
由于关节的摩擦，工业操纵者在自身的体重下不会崩溃。尽管这些机制可有效地控制拾取和地位的僵硬位置，但它们不适合必须迅速调节与环境的合规性相互作用的腿部机器人。但是，由于执行器中的机械损失，没有任何度量可以量化机器人的性能降解。这封信提供了一种新颖的表述，描述了单个执行器的效率如何传播到整个机器人的运动方程式。我们定量证明了一个直观的事实，即在存在关节摩擦的情况下，机器人的明显惯性增加。我们还重现了经验结果，即采用高齿轮和低效率执行器的机器人可以静态承担更大的外部载荷。我们希望这里介绍的框架将为设计下一代的腿部机器人提供基础，这些机器人可以有效地与世界互动。
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged robots which must rapidly regulate compliant interactions with the environment. However, no metric exists to quantify the robot's perform degradation due to mechanical losses in the actuators. This letter provides a novel formulation which describes how the efficiency of individual actuators propagate to the equations of motion of the whole robot. We quantitatively demonstrate the intuitive fact that the apparent inertia of the robots increase in the presence of joint friction. We also reproduce the empirical result that robots which employ high gearing and low efficiency actuators can statically sustain more substantial external loads. We expect that the framework presented here will provide the foundations to design the next generation of legged robots which can effectively interact with the world.
