In this paper,a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption.The innovative structure cleverly incorporates micro...In this paper,a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption.The innovative structure cleverly incorporates micro-plate springs,offering significant stiffness adjustment capabilities.To meet the stiffness requirements,the relationships between foot-ground contact force and the deformation force of the elastic component,as well as the influence of elastic component deformation and foot cushioning amplitude are comprehensively analyzed.With the aid of finite element optimization analysis,a single-leg experimental platform is designed,and the effectiveness and applicability of the novel structure are validated through experiments including unloaded free swinging,freely falling body motion and ground squats experiments.Comparative experiments results show the evident superiorities of the passive compliance joint.展开更多
This paper introduces a motion planning and cooperative formation control approach for quadruped robots and multi-agent systems.First,in order to improve the efficiency and safety of quadruped robots navigating in com...This paper introduces a motion planning and cooperative formation control approach for quadruped robots and multi-agent systems.First,in order to improve the efficiency and safety of quadruped robots navigating in complex environments,this paper proposes a new planning method that combines the dynamic model of quadruped robots and a gradient-optimized obstacle avoidance strategy without Euclidean Signed Distance Field.The framework is suitable for both static and slow dynamic obstacle environments,aiming to achieve multiple goals of obstacle avoidance,minimizing energy consumption,reducing impact,satisfying dynamic constraints,and ensuring trajectory smoothness.This approach differs in that it reduces energy consumption throughout the movement from a new perspective.Meanwhile,this method effectively reduces the impact of the ground on the robot,thus mitigating the damage to its structure.Second,we combine the dynamic control barrier function and the virtual leader-follower model to achieve efficient and safe formation control through model predictive control.Finally,the proposed algorithm is validated through both simulations and real-world scenarios testing.展开更多
基金supported by the National Natural Science Foundation for general program of China(Grant No.62373217).
文摘In this paper,a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption.The innovative structure cleverly incorporates micro-plate springs,offering significant stiffness adjustment capabilities.To meet the stiffness requirements,the relationships between foot-ground contact force and the deformation force of the elastic component,as well as the influence of elastic component deformation and foot cushioning amplitude are comprehensively analyzed.With the aid of finite element optimization analysis,a single-leg experimental platform is designed,and the effectiveness and applicability of the novel structure are validated through experiments including unloaded free swinging,freely falling body motion and ground squats experiments.Comparative experiments results show the evident superiorities of the passive compliance joint.
基金supported in part by Shanghai Rising-Star Program under Grant No.22QA1409400in part by National Natural Science Foundation of China under Grant Nos.62473287 and 62088101in part by Shanghai Municipal Science and Technology Major Project under Grant No.2021SHZDZX0100.
文摘This paper introduces a motion planning and cooperative formation control approach for quadruped robots and multi-agent systems.First,in order to improve the efficiency and safety of quadruped robots navigating in complex environments,this paper proposes a new planning method that combines the dynamic model of quadruped robots and a gradient-optimized obstacle avoidance strategy without Euclidean Signed Distance Field.The framework is suitable for both static and slow dynamic obstacle environments,aiming to achieve multiple goals of obstacle avoidance,minimizing energy consumption,reducing impact,satisfying dynamic constraints,and ensuring trajectory smoothness.This approach differs in that it reduces energy consumption throughout the movement from a new perspective.Meanwhile,this method effectively reduces the impact of the ground on the robot,thus mitigating the damage to its structure.Second,we combine the dynamic control barrier function and the virtual leader-follower model to achieve efficient and safe formation control through model predictive control.Finally,the proposed algorithm is validated through both simulations and real-world scenarios testing.
