外观
论文arXiv 2609.110591 个月前
使用被动机构进行负载搬运的四足运动中的步态依赖效应
原文链接：Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism（arXiv 2609.11059 · 发布日期：2026-09-10）
Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism
研究被动臂刚度阻尼在不同步态和载荷下对四足载荷搬运的影响，并在平地仿真中比较阻尼与欠阻尼配置。
核心要点
- 被动机械接口可作为四足载荷搬运的轻量替代方案，但其阻抗会耦合载荷动态与运动模式。
- 论文分析不同步态和载荷条件下，被动臂刚度与阻尼选择对载荷搬运运动的影响。
- 在平地仿真中比较阻尼与欠阻尼配置；crawl步态下欠阻尼会增加被动关节振荡并可能降低ZMP裕度。
- 结果以步态-载荷-刚度-阻尼图总结；trot仅作为被动臂动态激励情形，不用于直接ZMP裕度稳定性比较。
验证范围与局限：验证范围为平地仿真；ZMP裕度降低仅针对crawl步态评估，trot仅作为被动臂激励情形。
英文摘要 (Abstract)
Passive mechanical interfaces offer a lightweight alternative to actuated manipulators for quadruped payload carrying, but their impedance directly couples the payload dynamics with the locomotion pattern. This paper analyzes how passive-arm stiffness-damping selection affects payload-carrying locomotion under different gait and payload conditions. We compare damped and underdamped passive-arm impedance configurations in simulation during flat-ground locomotion. For crawl gaits, where the support polygon remains well defined, the results show that underdamped impedance increases passive-joint oscillations and can reduce the ZMP margin with respect to the support polygon. Trot is retained as a dynamic excitation case for the passive arm, but it is not used for direct ZMP-margin stability comparison. The results are summarized in gait-payload-stiffness-damping maps, where ZMP-margin reduction is evaluated for crawl gaits and trot is retained only as a passive-arm excitation case.
作者：Giovanni Dessy, Claudio Semini, Victor Barasuol
来源
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