足式机器人足-地力学模型及实验仿真研究综述

A Research Review of the Foot-Ground Interaction Mechanics Model and Simulation of Legged Robots

基于现有足式机器人足-地接触力学的研究,综合论述了足式机器人足-地接触力学模型、实验方法、虚拟仿真等方向的研究现状。总结归纳了硬质、松软两种地面环境下建立的各种足-地接触力学模型;对足-地接触力学足端运动、腿部运动状态以及不同足端形状的实验方法进行归纳;并基于有限元仿真和离散元仿真两类仿真方法,对足式机器人足-地力学虚拟仿真进行总结;最后,对足式机器人足-地接触力学在动态交互模型、地面适应性及足端创新性等方向的未来研究提出展望。研究足式机器人的足-地接触力学对于提高其在多变地形中的运动性能至关重要,有助于开发出更高效、更稳定的足式机器人系统。

This study comprehensively discusses the current state of research in the fields of foot-ground contact mechanics models,experimental methods,and virtual simulations.Firstly,it summarizes and generalizes various foot-ground contact mechanics models established under hard and soft ground environments.Secondly,it categorizes experimental methods for foot-end motion,leg motion status,and different foot-end shapes.Thirdly,it summarizes virtual simulations of legged robot foot-ground mechanics using finite element and discrete element simulation methods.Finally,it proposes prospects for future research in the mechanics of foot-ground contact in legged robots in terms of dynamic interaction models,ground adaptability,and innovative foot ends.It is important to study the foot-ground contact mechanics of legged robots to improve their motion performance in varied terrain,and to develop more efficient and stable robot systems.