论文标题
Kirin：具有高有效载荷能力的四倍机器人
Kirin: A Quadruped Robot with High Payload Carrying Capability
论文作者
论文摘要
四倍的机器人是一个多功能的移动平台，具有潜在的高效载荷携带能力。但是，大多数现有的四倍机器人都旨在高度动态和敏捷的运动。尽管如此，有效载荷的载荷仍然是四倍的机器人必不可少的能力。尚未深入探索具有高有效载荷能力的四倍机器人的设计。在这项研究中，提出了50公斤电动的四足机器人基林，以利用有效载荷承载能力。 Kirin的特征是棱柱形准直接驱动（QDD）腿。这种机制大大增加了有效载荷承载能力。这项研究介绍了针对有效载荷的四倍机器人的几种设计原理，包括机械设计，执行器参数选择和运动控制方法。理论分析表明，起重任务往往是具有铰接膝关节的现有机器人的瓶颈。通过使用Prismatic QDD腿，Kirin的有效载荷能力得到了极大的增强。为了证明基林的有效载荷承载能力，在初步实验中，测试了静态姿势的125公斤有效载荷提升，并且在动态小跑中进行了50公斤有效载荷。还展示了全身对有效载荷承载的符合。
The quadruped robot is a versatile mobile platform with potential ability for high payload carrying. However, most of the existing quadruped robots aim at high maneuverability, highly dynamic and agile locomotion. In spite of this, payload carrying is still an indispensable ability for the quadruped robots. Design of a quadruped robot with high payload capacity is yet deeply explored. In this study, a 50 kg electrically-actuated quadruped robot, Kirin, is presented to leverage the payload carrying capability. Kirin is an characterized with prismatic quasi-direct-drive (QDD) leg. This mechanism greatly augments the payload carrying capability. This study presents several design principles for the payload-carrying-oriented quadruped robots, including the mechanical design, actuator parameters selection, and locomotion control method. The theoretical analysis implies that the lifting task tends to be a bottleneck for the existing robots with the articulated knee joints. By using prismatic QDD leg, the payload carrying capability of Kirin is enhanced greatly. To demonstrate Kirin's payload carrying capability, in preliminary experiment, up to 125 kg payload lifting in static stance and 50 kg payload carrying in dynamic trotting are tested. Whole body compliance with payload carrying is also demonstrated.
