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.
WU Weinan
,
ZHU Qiuguo
,
WU Jun
,
XIONG Rong
. Coordinated Motion Control between the Knee and Ankle Joints for One-legged Robot Based on Particle Swarm Optimization Algorithm[J]. Journal of Mechanical Engineering, 2017
, 53(15)
: 93
-100
.
DOI: 10.3901/JME.2017.15.093
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