论文标题
泰洛（Tello）腿：动态人形机器人的设计原理和指标的研究
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
论文作者
论文摘要
为了成为实际场景中的有用工具，人类机器人必须动态实现任务。这意味着他们必须能够施加实质性力量，快速挥舞四肢，并减轻运动过程中可能发生的影响。为了创建有能力的类人动物，这封信介绍了机器人泰洛的腿，并演示了它如何体现动态腿部机器人的两个新的基本设计概念。四肢遵循以下原则：（i）合作致动（CA），通过在差分配置中相结合以提高肢体的力能力。我们证明，与常规串行设计配置相比，CA配置需要一半的电动机扭矩才能进行跳跃。 （ii）近端致动，通过将重电动机放在体附近，以减少肢体的惯性。为了量化运动位置对机器人动力学的影响，我们引入了一种新型的度量质心惯性（CII）。我们表明，最先进的动态腿机器人的设计从经验上增加了CII，以提高敏捷性并促进基于模型的控制。我们希望该指标能够在未来设计这些机器。
To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the motion. Towards creating capable humanoids, this letter presents the leg of the robot TELLO and demonstrates how it embodies two new fundamental design concepts for dynamic legged robots. The limbs follows the principles of: (i) Cooperative Actuation (CA), by combining motors in differential configurations to increase the force capability of the limb. We demonstrate that the CA configuration requires half the motor torque to perform a jump in comparison to conventional serial design configurations. And (ii) proximal actuation, by placing heavy motors near the body to reduce the inertia of the limb. To quantify the effect of motor placement on the robot's dynamics, we introduce a novel metric entitle Centroidal Inertia Isotropy (CII). We show that the design of state-of-the-art dynamic legged robots empirically increase the CII to improve agility and facilitate model-based control. We hope this metric will enable a quantifiable way to design these machines in the future.
