StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
arxiv(2024)
摘要
We introduce StaccaToe, a human-scale, electric motor-powered single-leg
robot designed to rival the agility of human locomotion through two distinctive
attributes: an actuated toe and a co-actuation configuration inspired by the
human leg. Leveraging the foundational design of HyperLeg's lower leg
mechanism, we develop a stand-alone robot by incorporating new link designs,
custom-designed power electronics, and a refined control system. Unlike
previous jumping robots that rely on either special mechanisms (e.g., springs
and clutches) or hydraulic/pneumatic actuators, StaccaToe employs electric
motors without energy storage mechanisms. This choice underscores our ultimate
goal of developing a practical, high-performance humanoid robot capable of
human-like, stable walking as well as explosive dynamic movements. In this
paper, we aim to empirically evaluate the balance capability and the exertion
of explosive ground reaction forces of our toe and co-actuation mechanisms.
Throughout extensive hardware and controller development, StaccaToe showcases
its control fidelity by demonstrating a balanced tip-toe stance and dynamic
jump. This study is significant for three key reasons: 1) StaccaToe represents
the first human-scale, electric motor-driven single-leg robot to execute
dynamic maneuvers without relying on specialized mechanisms; 2) our research
provides empirical evidence of the benefits of replicating critical human leg
attributes in robotic design; and 3) we explain the design process for creating
agile legged robots, the details that have been scantily covered in academic
literature.
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