简单双足被动行走模型仿真和分析  

Simulation and analysis of simple biped passive dynamic walking model

作　　者：胡运富[1] 朱延河[1] 吴晓光[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2010年第3期490-494,499,共6页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展资助计划项目(2006AA04Z220);国家自然科学基金资助项目(60705027)

摘　　要：为了更准确理解双足被动机器人运动的本质特征,加强模型研究对实际样机设计的指导作用,采用数值仿真和Adams验证的方法研究简单两杆直腿圆弧足被动模型.分析了该被动模型的特点并通过拉格朗日法建立了与其对应的动力学模型;根据机器人稳定行走周期步态在相平面内表现为极限环特点,通过Matlab工具给出了理想模型稳态行走仿真的详细过程,分析并得出机器人能够周期稳态行走的初值条件,运动特点和运动过程中动能、势能的分布、变化过程以及相互转化关系,同时利用Matlab的仿真结果实现Ad-ams对现实样机模型稳态行走的仿真分析,为下一步对机器人稳定性分析提供了基础,为后续研究被动机器人样机提供设计依据.For a better understanding of the essential characteristics of passive robot, making the research of model be a better guide to the design of actual prototype, methods of numerical simulation and verification of Adams were employed to research a two-dimensional pure passive walking model with round feet. Characteristics of the passive model were analyzed and the dynamic equations were derived with Lagrange Equation. Based on the phenomenon of dynamics of symmetric gait of the robot appearing to be a Iimit cycle in the phase space, a complete process of the simulation of steady-walking of this model was given with Matlab tool and the initial conditions of the steady-walking model were achieved. The dynamics and characteristics in each stage of the biped locomotion cycle were discussed. Adams was used to verify the simulation. This study will be the basis of stability analysis of the robot and a guide to the design of a passive robot prototype.

关 键 词：被动行走 不动点 双足机器人 相空间 庞加莱映射 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]