基于双质量-弹簧模型的仿袋鼠机器人间歇跳跃落地稳定性研究  

Exploring Gait Stability of Kangaroo Robot Based on Two-Mass-One-Spring Model in Intermittent Touchdown Phase

作　　者：葛文杰[1] 夏旭峰[1] 黄杰[1] 文放[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《西北工业大学学报》2007年第4期517-522,共6页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(50375120)资助

摘　　要：跳跃落地稳定性是跳跃机器人的关键技术。通过对仿袋鼠机器人跳跃运动稳定性分析,揭示了袋鼠跳跃稳定性的运动规律,提出了一种机器人跳跃动态稳定性的分析方法。考虑踝关节力矩作用,建立了仿袋鼠跳跃机器人双质量-弹簧动力学模型,采用能量法,分析给出了该跳跃机器人的动态稳定区域及其前、后边界稳定裕量的表达式,并结合实例,应用Matlab进行仿真计算分析,给出了袋鼠机器人保持落地稳定性时的腿部弹簧刚度系数、触地角及触地速度等参数之间应满足的关系和各取值范围。分析结果表明:仿袋鼠机器人的动、静态稳定区域不同,二者无重合域。Aim. To our knowledge,there is as yet no paper in the open literature dealing with the subject stated in the title.We now present the preliminary results of our exploration.In the full paper,we explain in some detail our mathematical analysis and the analysis of simulation results.In this abstract,we just add some pertinent remarks to listing the three topics of explanation.The first topic is： the establishment of the model.In the first topic,keeping in mind the hopping characteristics of the kangaroo,we,in our two-mass-one-spring model,consider a robot＇s body as one mass and its two feet as another mass.The second topic is： the analysis of the robot＇s stability in the intermittent touchdown phase.In the second topic,we,using the energy method,derive two equations,given in the full paper,for calculating respectively the fore and back limits of the stability margin.The third topic is： the stability margin in the intermittent touchdown phase.In the third topic,we first derive the mathematical equations needed and then obtain simulation results——stability margin,spring stiffness coefficient,touchdown angle,and touchdown velocity——with Matlab toolbox.The simulations results,summarized in three figures in the full paper,show preliminarily that the dynamic and static stability regions of the kangaroo robot are completely different.

关 键 词：仿袋鼠跳跃机器人 双质量-弹簧模型 间歇性跳跃 落地稳定性 能量法 

分 类 号：V215.6[航空宇航科学与技术—航空宇航推进理论与工程]