[1] 汪步云,彭稳,梁艺,等. 全地形移动机器人悬架机构设计及特性分析[J]. 机械工程学报,2022,58(9):71-86. WANG Buyun,PENG Wen,LIANG Yi,et al. Characteristics analysis and optimization design of suspension mechanism of all-terrain mobile robot[J]. Journal of Mechanical Engineering,2022,58(9):71-86. [2] QIANG R,WU J,YAO Y A. Design and analysis of a multi-legged robot with pitch adjustive units[J]. Chinese Journal of Mechanical Engineering,2021,34(3):64-81. [3] ZHENG Y,XU K,TIAN Y,et al. Bionic design and analysis of a novel quadruped robot with a multistage buffer system[J]. Chinese Journal of Mechanical Engineering,2022,35(2):32-52. [4] Boston Dynamics. About handle[OL]. (2019-11-22)[2019-11-25]. http://www.bostonDynamics.com/handle. [5] KLEMM V,MORRA A,SALZMANN C,et al. Ascento:A two-wheeled jumping robot[C]//2019 International Conference on Robotics and Automation (ICRA). IEEE,2019:515-7521. [6] KLEMM V,MORRA A,GULICH L,et al. LQR-Assisted whole-body control of a wheeled bipedal robot with kinematic loops[J]. IEEE Robotics and Automation Letters,2020,5(2):3745-3752. [7] CUI L,WANG S,ZHANG J,et al. Learning-Based balance control of wheel-legged robots[J]. IEEE Robotics and Automation Letters,2021,6(4):7667-7674. [8] 王振楠. 液压单腿机器人的设计与竖直跳跃控制研究[D]. 哈尔滨:哈尔滨工业大学,2018. WANG Zhennan. Design of hydraulic single leg robot and research on vertical jump control[D]. Harbin:Harbin Institute of Technology,2018. [9] 高得胜. 气动双关节弹跳腿跳跃机理与实验研究[D].哈尔滨:哈尔滨工业大学,2021. GAO Desheng. Jumping mechanism and experimental study of pneumatic double joint spring leg[D]. Harbin:Harbin Institute of Technology,2021. [10] HUTTER M,REMY C D,HOEPFLINGER M A,et al. High compliant series elastic actuation for the robotic leg ScarlETH[M]. World Scientific Publishing,2011. [11] 陈志伟. 液压驱动单腿跳跃机器人控制系统研究[D].杭州:浙江大学,2016. CHEN Zhiwei. Research on control system of hydraulically actuated single-legged hopping robot[D]. Hangzhou:Zhejiang University,2016. [12] TERRY P,PIOVAN G,BYL K. Towards precise control of hoppers:using high order partial feedback linearization to control the hopping robot FRANK[C]//2016 IEEE 55th Conference on Decision and Control(CDC). IEEE,2016:6669-6675. [13] SEMINI C,TSAGARAKIS N G,GUGLIELMINO E,et al. Design of HyQ-a hydraulically and electrically actuated quadruped robot[J]. Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2011,225(6):831-849. [14] MATHIS F B,MUKHERJEE R. Apex height control of a two-mass robot hopping on a rigid foundation[J]. Mechanism & Machine Theory,2016,105:44-57. [15] 单开正,于海涛,韩亮亮,等. 近似直驱双足机器人跳跃运动非线性优化及试验验证[J]. 机械工程学报,2021,57(13):153-162. SHAN Kaizheng,YU Haitao,HAN Liangliang,et al. Nonlinear optimization and experimental validation of a quasi-direct-drive bipedal robot's jumping motion[J]. Journal of Mechanical Engineering,2021,57(13):153-162. [16] 于建均,张远,左国玉,等. 基于ZMP判据的仿人机器人步态模仿[J]. 北京工业大学学报,2018,44(9):1187-1192. YU Jianjun,ZHANG Yuan,ZUO Guoyu,et al. Humanoid robot gait imitation based on ZMP criterion[J]. Journal of Beijing University of Technology,2018,44(9):1187-1192. [17] 樊一霄. 轮腿机器人跳跃控制研究[D]. 哈尔滨:哈尔滨工业大学,2020. FAN Yixiao. Research on the jumping control of the wheel-legged robot[D]. Harbin:Harbin Institute of Technology,2020. [18] Li X,FAN Y,YU H,et al. Stable jump control for the wheel-Legged robot based on TMS-DIP model[J]. Industrial Robot,2022,49(2):212-225. [19] 于淏阳. 液压双足轮腿机器人跳跃控制研究[D]. 哈尔滨:哈尔滨工业大学,2021. YU Haoyang. Research on the jump control of hydraulic wheel-leg biped robot[D]. Harbin:Harbin Institute of Technology,2021. [20] CHEN H,WANG B,HONG Z,et al. Underactuated motion planning and control for jumping with wheeled-bipedal robots[J]. IEEE Robotics and Automation Letters,2020,6(2):747-754. [21] 罗尧,王慧. 非线性弹簧阻尼减振装置的研究[J]. 物理与工程, 2011, 21(5):4. LUO Yao,WANG Hui. Study of the nonlinear damping spring shock absorbers[J]. Physics and Engineering, 2011, 21(5):4. [22] 蔡春山,王佐勋. 基于LQR的两轮机器人的平衡控 制[J]. 齐鲁工业大学学报,2018,32(1):55-60. CAI Chunshan,WANG Zuoxun. Balance control of two-wheeled robot based on LQR[J]. Journal of Qilu University of Technology,2018,32(1):55-60. [23] 闻双云. 两轮自平衡小车控制算法的研究与优化[D]. 长春:吉林大学,2017. WEN Shuangyun. The research and optimization on control algorithm of two-wheeled self-balance vehicle[D]. Changchun:Jilin University,2017. |