粘弹性仿生机器人腿高效率自稳定运动机理研究

Biomimetic robots have low efficiency and poor adaptability, which leads to a huge performance gap between robots and animals. Therefore, researchers have been simulating the structure and motion mechanism of animal legs to promote the development of biomimetic robots. However, limited understanding of organization structure and motion mechanisms of animal leg restricts the development of biomimetic robots. Hence, efficient and stable motion mechanism of animal leg is a basic scientific problem needed to be resolved. By studying the coupling mechanism between viscoelastic organization and skeleton, this project will establish a new animal leg viscoelastic coupling dynamical model. Based on this model, the parameters cooperative principle of muscle work, elasticity, damper, mass distribution and other parameters, during walking, running and jumping mode or switching from different modes in unknown environment will be studied, which will reveal the efficient and stable mechanisms of the animal leg. The mapping laws from animal leg to the structure and control of robot leg will also be studied. Therefore, the DOFs, power, viscoelastic properties and sensors arrangement of viscoelastic robot leg can be developed with the mapping laws. Thus, the problem of biomimetic robots' low efficiency and poor adaptability to the environment can be solved. This project will provide a way to develop biomimetic robot, and help to clarify the motion mechanism of human and other animals.

目前仿生机器人在运动效率和稳定性方面与动物还存在很大的差距。研究人员一直通过模拟动物腿的结构和运动机理来推动仿生机器人的发展。然而，动物腿组织结构复杂、运动机理尚不清晰，限制了仿生机器人发展。因此动物腿的高效稳定运动机理是一个亟需解决的基础科学问题。本项目通过研究动物腿粘弹性组织内部及其与骨骼之间耦合作用机理，建立新的动物腿粘弹性耦合动力学模型。基于该模型，研究动物在走、跑、跳等多种运动模式及运动模式转换过程中，腿肌肉做功、刚度、阻尼及质量分布等特性参数的协同规律，揭示动物腿高效稳定运动机理。探索动物腿与仿生机器人腿机构、控制之间的映射方法，研究粘弹性仿生机器人腿的自由度配置、动力驱动、粘弹性组件选择及传感器设置与控制的方法，解决目前仿生机器人运动效率和环境适应能力难以兼顾的问题，为仿生机器人的发展提供新的理论和方法，同时有助于阐明人类和动物自身的行走机理，具有重要的学术意义及应用价值。

本项目围绕基于人体运动特性的仿人机器人设计理论与方法，开展了人体粘弹性耦合动力学建模，人腿运动参数的协同规律分析，基于人体粘弹性动力学模型的仿人机器人设计方法研究。首先根据人体的组织结构分布，将人体抽象为上身、腰部、双腿等多质量块耦合系统；根据解剖学构造，将人腿抽象为驱动单元、弹簧阻尼、多质量体的耦合系统，建立包含粘弹性组织协同作用、脚与环境接触、腿与身体协调运动的人体粘弹性耦合动力学模型，为揭示人高效稳定运动机理提供理论基础。其次，基于人体粘弹性耦合动力学模型，分析了人在原地跳和原地跑两种模式下的运动特点，验证了仅在腿部施加简单的正弦驱动，模型运动会迅速收敛为稳定的周期运动，而且不依赖初始条件和外部控制器，证明了基于该模型在原地跳和原地跑模式下具有很强的自稳定性。最后提出基于人体粘弹性动力学模型的仿人机器人设计方法，通过将人体躯干质量映射为机器人髋关节质量，腿的质量映射为膝关节的质量，腿的弹性、阻尼和驱动力通过力域雅克比矩阵映射为髋关节和膝关节的驱动力矩，脚的弹性和阻尼通过机器人粘弹性材料选择确定，实现了粘弹性腿模型与仿人机器人腿映射，为仿生机器人发展提供新的理论和方法。