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1、中国科技论文在线http://www.paper.edu.cnMotionPlanningofoneBionicUnderactuatedHopping#RobotduringStance**5MENGXiangyan,GEWenjie(SchoolofMechanicalEngineering,NorthwesternPolytechnicalUniversity,Xi'an,710072)Abstract:Thepaperdealswiththeproblemofmotionplanningofanunderactuatedhoppingrobotinjointspace.Firstl
2、y,thepaperestablishsthemodeloftheunderactuatedrobot.Then,combiningthecouplingequationsabouttheactuatedandunderactuatedjointsandtheequationtheCOM,the10accelerationequationsbetweentheactuatedjointsandtheCOMarederived.UsingtheverticalaccelerationequationsoftheCOMastheconstraints,theproperjointtraject
3、oriesduringstancearegeneratedbynumericaliterationandoptimization.Thesimulationresultsshowthattheproposedmethodinthispaperisfeasibleandcanbeextendedtootherunderactuatedhoppingrobots.Keywords:hoppingrobot;underactuatedrobots;motionplanning;stance;optimization150IntroductionKangaroohastheabilitiesofh
4、igh-speedmotion,smallfootholdrequirementandlowenergy[1,2]cost,whichmakethemextremelyefficienthoppers.Inspiredbytheseadvantages,theresearchofbionichoppingrobotshaveattractedresearcher’sinterest.Inordertoavoidobstaclesandadapt20totheirregularterrain,researchersshouldplanthemotionofthehoppingrobot.Mo
5、tionplanningofthehoppingrobotisachallengingproblem,becausethehoppingrobotisacomplicateddynamicsystem,whichisanonlinear,multivariable,strongcouplingsystem.Thereareaboutfourkindofmethodforthemotionplanningoftherobot.Theseare:1)[3,4]motionplanningmethodbasedonthecenterofmass(COM).Kajitaetal.planedthe
6、trajectory25ofCOMaccordingtotherobot'smomentumandangularmomentuminordertorealizethe[5][6]runningorjumpingmotion;2)methodbasedontheinvertedpendulummodel.AhmadiandBuehlerstudiedthegaitoptimizationproblemwiththeminimumenergyconsumptionforthe[7]passiverunningrobotbasedonspringloadedinvertedpendulummod
7、el;3)methodbasedonthe[8]optimalcontrol.Fujimotoproposedoptimalcontroltosolvetheminimumenergyconsumption[9][10]30trajectories;4)methodbasedonthestabilityconditionssuchaszeromomentumpoint(ZMP).[11]Nagasakietal.plan
