基于上体模型的被动步行机器人行走稳定性  

Walking stability of passive walking robot based on upper body model

作　　者：吴晓光[1] 赵杰[1] 陈殿中[1] 臧希喆[1] 朱磊[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《沈阳工业大学学报》2011年第5期531-539,共9页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(60905049);"高档数控机床与基础制造装备"科技重大专项资助项目(2009ZX04004-062);机器人技术与系统国家重点实验室(哈尔滨工业大学)自主课题(SKLRS200804C)

摘　　要：针对被动步行机器人行走稳定性对自身参数的高敏感性问题,通过建立具有上体的匀质圆规步态模型,分析上体质量与高度对机器人行走稳定性的影响,获得机器人结构参数的优化配置.运用Lagrange法与角动量守恒原理构建机器人被动步行的动力学模型,基于对模型步态收敛域与外界扰动的准确表达,并将全局稳定性分析与局部稳定性分析相结合,对模型进行初始参数优化配置,并据此建立Proe样机模型.通过对单次与连续外界扰动下不同样机模型步态的自身调节变化进行分析,最终获得模型参数的最优化配置并进行了合理性分析.不同样机扰动试验结果说明,上体的引入可以增大机器人的步态收敛区间,合理的上体参数配置才能显著提高机器人行走的稳定性与鲁棒性.For the high sensitivity of the walking stability of a passive walking robot to its own parameters,a homogeneous compass gait model with upper body was established to analyze the effect of both mass and height of upper body on the walking stability of robot,and the optimum configuration for the structural parameters of robot was obtained.A dynamic model for the passive walking of robot was established with the Lagrange method and angular momentum conservation principle.Based on the accurate description in the gait convergence interval of the model and the external disturbances and through combining the global stability analysis with the local one,the optimum configuration of original parameterthe was carried out for the model,and then the Proe prototype model was established.With analyzing the self-regulation change of gait for different prototype models under single or continuous external disturbances,the optimum configuration of paramters for the model was finally attained,and the reasonability analysis was performed.The results of disturbance experiments for different prototypes indicate that the introduction of upper body can increase the gait convergence interval,and only reasonable parameter configuration of upper body can enhance the stabiliy and robustness of the robot obviously.

关 键 词：被动步行 上体 稳定性 扰动 步态收敛区间 双足 拉格朗日法 庞加莱映射 

分 类 号：TH113.2[机械工程—机械设计及理论]