论文标题
可调动态行走通过软扭曲的梁振动
Tunable Dynamic Walking via Soft Twisted Beam Vibration
论文作者
论文摘要
我们提出了一种新型机制，该机制通过软扭曲的光束传播振动，利用动态耦合的各向异性刚度来简化行走机器人的致动。使用动态模拟和实验方法，我们表明，可以控制带有地形接触的扭曲光束的刚度，以通过更改输入信号的频率来产生各种复杂轨迹。这项工作揭示了地面接触如何影响系统的动态行为，并支持受此现象启发的步行机器人的设计。我们还表明，提出的扭曲光束会从单个振动输入中产生可调步态。
We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental approaches, we show that the coupled stiffness of twisted beams with terrain contact can be controlled to generate a variety of complex trajectories by changing the frequency of the input signal. This work reveals how ground contact influences the system's dynamic behavior, supporting the design of walking robots inspired by this phenomenon. We also show that the proposed twisted beam produces a tunable walking gait from a single vibrational input.
