针对三段式冗余单腿机器人的高能效运动问题，通过采集人体跳跃的运动学数据，分析人体在跳跃中膝踝关节的做功机理，提出冗余单腿机器人在跳跃中膝协调运动的定义，研究基于粒子群优化算法（Particle swarm optimization，PSO）搜索算法实现膝踝关节协调运动的优化方法，优化结果验证了膝踝关节协调运动规划算法的高能效性。通过仿真试验，实现了单腿机器人膝踝协调的连续跳跃运动，验证了规划算法和控制算法在跳跃中的有效性，通过实物试验验证了算法的有效性和鲁棒性。
Aiming at the energy efficiency problem of three-segmented and redundant one-legged robot, the working principle of human's knee and ankle joints while hopping is analyzed by collecting and analyzing the kinematics data of human. The definition of coordinated motion between knee and ankle joints is proposed. Control algorithm based on particle swarm optimization (PSO) algorithm is also proposed to realize the coordinated motion between knee and ankle joints. Thus the energy-efficiency of kinematic coordinated planning algorithm is verified. The effectiveness of planning algorithm and control algorithm in the hopping is verified by simulation, implementing the coordinated continuous hopping movement between the knee and ankle joints. The effectiveness and robustness of the method is validated through the practical experiments.
[1] NOVACHECK T F. The biomechanics of running[J]. Gait & Posture,1998,7(1):77-95.
[2] HYON S H,MITA T. Development of a biologically inspired hopping robot-"Kenken"[C]//IEEE Robotics and Automation Conference,2002:3984-3991.
[3] TAJIMA R,SUGA K. Motion having a flight phase:Experiments involving a one-legged robot[C]//IEEE Intelligent Robots and Systems Conference,2006:1726-1731.
[4] HUTTER M,HOLENSTEIN C,FENNER D,et al. Adaptive mobile robotics[M]. 2015.
[5] HUTTER M,REMY C D,HOEPFLINGER M,et al. Efficient and versatile locomotion with highly compliant legs[J]. IEEE Transactions on Mechatronics,2013,18(2):449-458.
[6] HUTTER M,REMY C D,HOEPFLINGER M,et al. ScarlETH:Design and control of a planar running robot[C]//IEEE Intelligent Robots and Systems Conference,2011:562-567.
[7] SAKAGAMI Y,WATANABE R,AOYAMA C,et al. The intelligent asimo:System overview and integration[C]//IEEE Intelligent Robots and Systems Conference,2002:2478-2483.
[8] TAJIMA R,HONDA D,SUGA K. Fast running experiments involving a humanoid robot[C]//IEEE Robotics and Automation Conference,2009:1571-1576.
[9] SCHOLZ D,MAUFROY C,KUROWSKI S,et al. Simulation and experimental evaluation of the contribution of biarticular gastrocnemius structure to joint synchronization in human-inspired three-segmented elastic legs[M]. Heidelberg:Springer,2012.
[10] SHARBAFI M A,RADKHAH K,STRYK O V,et al. Hopping control for the musculoskeletal bipedal robot:BioBiped[C]//IEEE Intelligent Robots and Systems Conference,2014:4868-4875.
[11] RADKHAH K,STRYK O. A study of the passive rebound behavior of bipedal robots with stiff and different types of elastic actuation[C]//IEEE Robotics and Automation Conference,2014:5095-5102.
[12] LEI J,ZHU Q,WU J,et al. Gait analysis of human locomotion based on motion capture system[C]//The 9th IEEE Conference on Industrial Electronics and Applications,2014:765-769.
[13] YEN J T,AUYANG A G,CHANG Y H. Joint-level kinetic redundancy is exploited to control limb-level forces during human hopping[J]. Experimental Brain Research,2009,196(3):439-451.
[14] GRANATA K P,PADUA D A,WILSON S E. Gender differences in active musculoskeletal stiffness. Part Ⅱ. Quantification of leg stiffness during functional hopping tasks[J]. Journal of Electromyography and Kinesiology,2002,12(2):127-135.
[15] FARLEY C T,MORGENROTH D C. Leg stiffness primarily depends on ankle stiffness during human hopping[J]. Journal of Biomechanics,1999,32(3):267-273.
[16] KENNEDY J,EBERHART R. Particle swarm optimization[C]//IEEE International Conference on Neural Network,1995:1942-1948.
