国内外双足人形机器人驱动器研究综述

A review on biped humanoid robot actuator in China and overseas

驱动器是双足人形机器人的关键部件,其技术发展直接影响双足人形机器人的发展。本文回顾了驱动器的起源与历程,分析了双足人形机器人关节的运动特点,提出了双足人形机器人驱动器的核心技术指标;进而对刚性驱动器、弹性驱动器和准直驱驱动器的技术发展进行了论述,综合比较了3种驱动器的结构、控制、功率和应用等特性。指出了以动物腿部骨骼和肌肉系统为参考,和机器人整机高度集成驱动器的研究是驱动器原理方面的新研究方向。刚性驱动器的测试方法和性能指标的标准化,弹性驱动器结合机器人整机结构布局、运动步态控制算法做系统级优化,准直驱驱动器编码器技术创新等是现有驱动器技术下一步发展趋势。

Actuators are key components of biped humanoid robots;hence,their technological development directly affects the development of such robots.This paper reviews the origin and history of the actuator,analyzes the motion characteristics of the biped humanoid robot,and proposes the core technical indicators of the biped humanoid robot′s actuator.Then,it discusses the technical development of stiffness actuator,series elastic actuator,and proprioceptive actuator.The structure,control,power,and application characteristics of the three actuators are also compared.Studying the highly integrated actuator with the animal′s leg bone and muscle system as reference is a new research direction in the principle of actuators.The next development trends for existing actuator technology are the standardization of testing methods and performance indicators of stiffness actuators,elastic actuators integrated with the robot′s overall configuration,motion control algorithms for system-level optimization,and technological innovations on the encoders of proprioceptive actuators.