粒状地形を歩行する二足歩行ロボットのためのエネルギー効率の良い足形状設計
Energy Efficient Foot-Shape Design for Bipedal Walkers on Granular Terrain
粒状地形上での二足歩行ロボットの運動とエネルギーを解析し、エネルギー効率と歩行効率を考慮した足形状の多目的最適化を行った。硬い粒状地形では非凸形状の足が最良の性能を示すことを発見した。
著者: Xunjie Chen, Jingang Yi, Hao Wang
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
It is important to understand how bipedal walkers balance and walk effectively on granular materials, such as sand and loose dirt, etc. This paper first presents a computational approach to obtain the motion and energy analysis of bipedal walkers on granular terrains and then discusses an optimization method for the robot foot-shape contour design for energy efficiently walking. We first present the foot-terrain interaction characteristics of the intrusion process using the resistive force theory that provides comprehensive force laws. Using human gait profiles, we compute and compare the ground reaction forces and the external work for walking gaits with various foot shapes on granular terrains. A multi-objective optimization problem is finally formulated for the foot contour design considering energy saving and walking efficiency. It is interesting to find out a non-convex foot shape gives the best performance in term of energy and locomotion efficiency on hard granular terrains. The presented work provides an enabling tool to further understand and design efficient and effective bipedal walkers on granular terrains.
