中国科学院自动化研究所机构知识库

The swinging motion of the arms plays a crucial
role in improving the dynamic movement of humans by
expanding their ability to control angular momentum, as viewed
through the lens of biomechanics. However, biped robot with
human morphological structures rarely take full advantage
of the swing arms, since there is no effective locomotion
control strategy combining swing arms modeling and control
reasonably suitable. In this paper, a control strategy is proposed
for bipedal robots that incorporates swing arms in the process
of achieving jumping motion. The strategy involves modeling,
planning trajectories, and tracking movements to enhance the
overall performance and stability of the robot. In this process,
in order to extract characteristics of swing arms, biped robot
is modeled as a flywheel-spring loaded inverted pendulum (FSLIP),
and whole-body controller (WBC) is chosen as the
method of trajectory tracking to bring these characteristics
into play. Simulation of jumping motion is implemented on
a kind of biped robot Purple V1.0 designed for high explosive
locomotion, and an well-established evaluation method of biped
robot’s highly dynamic locomotion is proposed which includes
three aspects of agility, stability and energy consumption.
Experiment results show this control strategy’s effectiveness:
agility is increased by a maximum of 6%, stability is enhanced
by an average of 30%, and energy consumption is reduced by
an average of 15%.