Theo Jansen仿生腿研究及其机构优化设计

doi:10.3901/JME.2017.15.101

机械工程学报 ›› 2017, Vol. 53 ›› Issue (15): 101-109.doi: 10.3901/JME.2017.15.101

扫码分享

Theo Jansen仿生腿研究及其机构优化设计

臧红彬^1,2, 沈连婠¹

1. 中国科学技术大学精密机械与精密仪器系合肥 230027;
2. 西南科技大学制造过程测试技术省部共建教育部重点实验室绵阳 621010

收稿日期:2016-08-23 修回日期:2017-05-03 出版日期:2017-08-05 发布日期:2017-08-05
通讯作者: 臧红彬(通信作者),男,1982年出生,博士研究生,副教授。主要研究方向为仿生机器人、机器人机构学。E-mail:zanghongb@163.com
作者简介:沈连婠,女,1946年出生,教授,博士研究生导师。主要研究方向为数字化设计、数值仿真等。E-mail:lgshen@ustc.edu.cn
基金资助:
国家自然科学基金（51375410，61401379）和西南科技大学制造过程测试技术省部共建教育部重点实验室团队项目基金（13zxzk09）资助项目。

Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg

ZANG Hongbin^1,2, SHEN Lianguan¹

1. Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027;
2. Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010

Received:2016-08-23 Revised:2017-05-03 Online:2017-08-05 Published:2017-08-05

摘要/Abstract

摘要： 通过基于标准Theo Jansen仿生腿（Jansen-leg）机构研制出的小型仿生机器人实物样机的性能测试，发现该机构存在足端运动轨迹单一、地形适应性差等不足之处，针对此进行Jansen-leg机构的系统优化与革新设计。将双边测量中的距离方程应用于标准型仿生腿的运动学建模，作为机构优化中动态变换点的运动学分析的理论依据。通过可重构的优化设计方法，得到了能够适应趾行、避障、泥地、攀爬等运动的诸多新型足端运动轨迹模式。受到优化设计过程和结果的启发，在继承Jansen-leg机构优点的同时对其进行机构革新设计。设计的新机构不但具有很好的越障性、通过性、足端运动轨迹模态多样性，还具有控制简单、关节运动协调性好等诸多优点。提高了该机构对非结构地形环境的适应性，拓展了该机构的应用范围。

关键词: Jansen-leg, 革新设计, 机构优化, 双边测量距离方程, 足端运动轨迹

Abstract: Through the performance test of the small biomimetic robot prototype which is developed with the standard Theo Jansen bionic leg (Jansen-leg) mechanism, finding that it has some deficiencies, such as single foot motion trajectory and poor terrain adaptability, for which system optimization and innovation design is researched. As a theoretical analysis basis for optimizing the dynamic kinematics change point, the kinematic modeling of the standard Jansen-leg is established based on the bilateral distance measurement equations. Some novel gait patterns is got which can be used for digitigrades locomotion, obstacle avoidance, walking on mud and climbing by using the reconfigurable optimizing design approach. The innovative design of Jansen-leg mechanism is completed while inherited its advantages, inspired by the process and the results of optimizing design. The new Jansen-leg mechanism is not only has a better obstacle resistance, better ability of crossings irregular terrains and diverse foot motion trajectory patterns, but also with simple control, good coordination of the articulation and many other advantages. It also improves its adaptability of the unstructured terrain environment and expanding the application scope.

Key words: bilateration equation, foot motion trajectory, innovation design, Jansen-leg, optimization design of mechanism

中图分类号:

TP24

臧红彬, 沈连婠. Theo Jansen仿生腿研究及其机构优化设计[J]. 机械工程学报, 2017, 53(15): 101-109.

ZANG Hongbin, SHEN Lianguan. Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg[J]. Journal of Mechanical Engineering, 2017, 53(15): 101-109.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.2017.15.101

http://www.cjmenet.com.cn/CN/Y2017/V53/I15/101

参考文献

[1] TSUJITA K,KOBAYASHI T,INOURA T,MASUDA T. Gait transition by tuning muscle tones using pneumatic actuators in quadruped locomotion[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,2008:2453-2458.
[2] KAMIMURA A,KUROKAWA H,YOSHIDA E,et al. Automatic locomotion design and experiments for a modular robotic system[J]. IEEE/ASME Transactions on Mechatronics,2005,10(3):314-325.
[3] PAUL C,ROBERTS J W,LIPSON H,et al. Gait production in a temerity based robot[C]//12th International Conference on Advanced Robotics,2005:216-222.
[4] PAUL C. Morphological computation:A basis for the analysis of morphology and control requirements[J]. Robotics and Autonomous Systems,2006,54(8):619-630.
[5] CHAM J G,KARPICK J K,CUTKOSKY M R. Stride period adaptation of a biomimetic running hexapod[J]. The International Journal of Robotics Research,2004,23(2):141-153.
[6] FUKUOKA Y,KIMURA H,COHEN A H. Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts[J]. The International Journal of Robotics Research,2003,22(3-4):187-202.
[7] HENG C,LEO R. Treadmill training enhances the recovery of normal stepping patterns in spinal cord contused rats[J]. Experimental Neurology,2009,216(1):139-147.
[8] ROJAS N,THOMAS F. A coordinate-free approach to tracing the coupler curves of pin-jointed linkages[C]//2011 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference,2011:DETC2011-48147.
[9] RAIBERT M,BLANKESPOOR K,NELSON G,et al. Big Dog,the rough-terrain quadruped robot[C]//Proceedings of the 17th IFAC World Congress. Oxford,UK:IFAC,2008:10822-10825.
[10] PLAYTER R,BUEHLER M,RAIBERT M. BigDog[C]//Unmanned systems technology VⅢ,Bellingham,USA:SPIE,2006:62302O.
[11] Legged squad support systems[EB/OL].[2014-04-09]. http://en.wikipedia.org/wiki/Legged Squad Support System.
[12] 柴汇,孟健,荣学文. 高性能液压驱动四足机器人SCalf的设计与实现[J]. 机器人,2014,36(4):385-391. CHAI Hui,MENG jian,RONG Xuewen. Design and implementation of high-performance hydraulic drive of quadruped robot Scalf[J]. Robot,2014,36(4):385-391.
[13] 李满天,蒋振宇,郭伟,等. 四足仿生机器人单腿系统[J]. 机器人,2014,36(1):21-28. LI Mantian,JIANG Zhenyu,GUO Wei,et al. Single leg system of quadruped bionic robot[J]. Robot,2014,36(1):21-28.
[14] 何玉东,王军政,柯贤峰,等. 足式机器人的稳定行走[J]. 机械工程学报,2016,52(21):1-7. HE Yudong,WANG Junzheng,KE Xianfeng,et al. Stable walking for legged robots[J]. Chinese Journal of Mechanical Engineering,2016,52(21):1-7.
[15] 甄伟鲲,康熙,张新生,等. 一种新型四足变胞爬行机器人的步态规划研究[J]. 机械工程学报,2016,52(11):26-33. ZHEN Weikun,KANG Xi,ZHANG Xinsheng,et al. Gait planning of a novel metamorphic quadruped robot[J]. Journal of Mechanical Engineering,2016,52(11):26-33.
[16] WANG Hongbo,SANG Lingfeng,HU Xing,et al. Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism[J]. Chinese Journal of Mechanical Engineering,2013,26(5):881-891.
[17] XU Yilin,GAO Feng,PAN Yang,et al. Method for six-legged robot stepping on obstacles by indirect force estimation[J]. Chinese Journal of Mechanical Engineering,2016,29(4):669-679.
[18] GIESBRECHT D,WU C Q,SEPEHRI N. Synthesis of a legged walking mechanism "Wind Beast" using theory of mechanism design[C]//Dynamic Walking Conference,2009.
[19] KOMODA K,WAGATSUMA H. Theoretical basis of Theo Jansen linkage for analysis of dynamics by using kinematic constraint formulations[C]//The 22nd Annual Conference of the Japanese Neural Networks Society (JNNS 2012),2012:3-16.
[20] KOMODA K,WAGATSUMA H. A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function[C]//Dynamic Walking Conference,2012.

Theo Jansen仿生腿研究及其机构优化设计

Research and Optimization Design of Mechanism for Theo Jansen Bionic Leg

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	樊波, 胡波, 陈子明, 姚建涛. 基于非均匀有理B样条的无人装载机铲装轨迹多目标优化[J]. 机械工程学报, 2026, 62(7): 185-195.
[2]	顾连睿, 郭国强, 江仁政, 毋天歌, 柯帅, 孔志学, 赵欢. 薄壁复杂结构的机器人打磨路径规划和力位控制技术现状与发展[J]. 机械工程学报, 2026, 62(5): 117-132.
[3]	张涛, 何家豪, 施永平, 赵萍, 汪键, 王伟. 基于改进Stribeck摩擦的协作机器人动力学参数辨识[J]. 机械工程学报, 2026, 62(5): 151-167.
[4]	林松, 戴建生, 宋屹峰, 王洪光, 袁兵兵. 具有可重构躯干的轮式移动机器人曲面运动特性分析[J]. 机械工程学报, 2026, 62(5): 168-181.
[5]	孙鹏, 葛梦虎, 芮超, 曹利康, 陈波, 王剑斌, 李研彪. 混联双足机械腿的动力学建模与参数辨识[J]. 机械工程学报, 2026, 62(5): 192-203.
[6]	郭世航, 王神龙, 侯锦辉, 李永歌. 单磁驱动多自由度软体机器鱼设计与动力学建模[J]. 机械工程学报, 2026, 62(5): 215-229.
[7]	潘雪婷, 杨飞, 耿中泰, 岳洪浩, 徐金随, 王哲平. 柔性机器人刚度调制策略研究综述[J]. 机械工程学报, 2026, 62(3): 311-339.
[8]	谭励, 余煌, 杜小强, 贺磊盈, 马锃宏. 基于稳定夹持的类球形果实采摘末端执行器优化设计与试验[J]. 机械工程学报, 2026, 62(3): 353-365.
[9]	郭万金, 利乾辉, 徐明坤, 侯旭栋, 刘孝恒, 曹雏清, 赵立军. 高抗干扰性的无力传感器工业机器人外力估计方法[J]. 机械工程学报, 2026, 62(3): 366-383.
[10]	高建设, 暴雨萌, 宛磊, 刘强, 丁顺良, 饶晓波. 被动双足机器人的吸引盆内部拓扑结构[J]. 机械工程学报, 2026, 62(3): 384-395.
[11]	赵浩宇, 侯鹏帅, 陈星全, 邵宇乐, 董奇, 陈杰. 非结构化地形环境下移动机器人导航[J]. 机械工程学报, 2026, 62(3): 396-406.
[12]	杨秀建, 袁志豪. 基于交错式栅格粒度地图的非平坦地形环境下无人车辆路径规划[J]. 机械工程学报, 2026, 62(2): 313-328.
[13]	刘海波, 邓平, 迟庆宇, 刘天然, 刘阔, 李特, 黄祖广, 刘行健, 薄其乐, STEVEN Y LIANG, 王永青. 智能加工中数据使能技术与应用[J]. 机械工程学报, 2026, 62(2): 407-444.
[14]	刘争, 张泽, 张嘉骏, 谢福贵, 刘辛军. 航天构件加工移动式混联机器人颤振稳定域分析与铣削验证[J]. 机械工程学报, 2026, 62(1): 195-203.
[15]	庞文, 朱大奇, 林姝晗, 陈铭治. 基于多水下航行器编队控制的水下目标协同搬运研究[J]. 机械工程学报, 2025, 61(24): 363-376.