标题： 可调腿部刚度在单足跳跃器中用于跨不同地面轮廓的节能垂直跳跃 显示英文标题

标题： Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping Across Varying Ground Profiles

摘要： 我们介绍了HASTA（用于地形适应的可调节刚度跳动机器人）的设计和实现，这是一种具有实时可调腿部刚度的垂直跳跃机器人，旨在优化各种地面轮廓（一对地面刚度和阻尼条件）下的能量效率。通过调整腿部刚度，我们的目标是最大化跳跃顶点高度，这是能量高效垂直跳跃的关键指标。我们假设在柔软、阻尼的地面上，较软的腿部表现更好，通过最小化渗透和能量损失；而在坚硬、阻尼较小的地面上，较硬的腿部表现更佳，通过减少肢体变形和能量耗散。通过实验测试和仿真，我们发现对于每种地面刚度和阻尼的组合，我们选择的最佳腿部刚度，使机器人能够在恒定的能量输入下达到最大稳态跳跃高度。这些结果支持了我们的假设，即可调刚度在受控实验条件下提高了能量高效的运动。此外，仿真提供了有助于未来开发选择腿部刚度的控制器的见解。 显示英文摘要

摘要： We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaptation), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles (a pair of ground stiffness and damping conditions). By adjusting leg stiffness, we aim to maximize apex hopping height, a key metric for energy-efficient vertical hopping. We hypothesize that softer legs perform better on soft, damped ground by minimizing penetration and energy loss, while stiffer legs excel on hard, less damped ground by reducing limb deformation and energy dissipation. Through experimental tests and simulations, we find the best leg stiffness within our selection for each combination of ground stiffness and damping, enabling the robot to achieve maximum steady-state hopping height with a constant energy input. These results support our hypothesis that tunable stiffness improves energy-efficient locomotion in controlled experimental conditions. In addition, the simulation provides insights that could aid in the future development of controllers for selecting leg stiffness.