近似直驱双足机器人跳跃运动非线性优化及试验验证

Jumping is one of the most common gait patterns for cursorial mammals. With rapid and impulsive output, animals can cross obstacles and escape from enemies. However, subject to the limitations of actuator capabilities and the difficulty of planning and controlling highly dynamic movements, it is extremely challenging for legged robots to achieve movements such as jumping and running. In view of this, a bipedal robot prototype is devised with the co-axial quasi-direct-drive structure. Based on the simplified three-bar model, the constraint conditions of stance phase and flight phase are confirmed. With the goal of optimal jumping height, the motion planning issue of the robot is transferred into a nonlinear optimization problem with finite dimensions, and the variable parameter PID is used for the joint torque tracking control. The effectiveness of the motion planning algorithm is verified on physical robot platform. The results show that the biped robot can achieve jumping with ground clearance of 0.34 m (equivalent to 50% of the leg length). The research results can provide theoretical support and technical reference for future research on legged robots with remarkable obstacle negotiation ability.