Belangrijkste concepten
StaccaToe, a human-scale single-leg robot, demonstrates the capabilities of an actuated toe and co-actuation mechanisms to achieve both stable balance control and explosive jumping motions without relying on specialized mechanisms.
Samenvatting
The paper introduces StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion. StaccaToe features two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg.
The key highlights of the paper are:
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Hardware Design and Development:
- Reduction in component count and leg width for improved durability and weight reduction.
- Topology optimization of primary links to maintain structural rigidity while minimizing weight.
- Custom power electronics and cable management for reliable power and signal connections.
- Detailed actuator identification and characterization.
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Tiptoe Balance Experiment:
- Demonstration of StaccaToe's ability to maintain balance in a tiptoe stance using Whole-Body Impulse Control (WBIC).
- The actuated toe and co-actuation mechanisms provide sufficient stiffness and control fidelity for stable balance.
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Vertical Jumping Experiment:
- Trajectory optimization leveraging the co-actuation mechanism to generate high torques, particularly at the knee joint, for explosive jumping.
- The co-actuation setup allows the robot to generate over 100 Nm of torque at the knee, exceeding the individual actuator's capabilities.
The paper highlights the advantages of the actuated toe and co-actuation mechanisms in enabling both stable balance control and dynamic jumping motions, without relying on specialized mechanisms. The insights gained from this work will be incorporated into the development of a new humanoid robot, PresToe, capable of both efficient walking and explosive dynamic movements.
Statistieken
The knee joint generated over 100 Nm of torque during the push-off phase of the jumping experiment, exceeding the 80 Nm that the knee actuator alone can produce.
Citaten
"StaccaToe represents the first human-scale, electric motor-driven single-leg robot to execute dynamic maneuvers without relying on specialized mechanisms."
"Our research provides empirical evidence of the benefits of replicating critical human leg attributes in robotic design."