有躯干双足机器人被动行走及其稳定器  

Passive dynamic walking of a biped robot with torso and its stabilizer

作　　者：冯帅[1,2] 孙增圻[1] 

机构地区：[1]清华大学计算机科学与技术系,北京100084 [2]北京控制工程研究所,北京100190

出　　处：《北京科技大学学报》2012年第1期59-64,共6页Journal of University of Science and Technology Beijing

摘　　要：采用Matlab仿真的方式构建了一个简单的有躯干双足机器人模型,研究了该模型在斜坡上的被动行走,分析了模型步行的稳定性,并设计了一个全状态线性反馈步行稳定器.研究结果表明:无任何驱动器的有躯干双足机器人能够实现沿斜坡而下的被动行走,其步行方式有两种,但均不稳定;设计的全状态反馈稳定器能够较好地稳定模型的被动行走.A simulation model of a biped robot with torso was established using Matlab, the passive dynamic walking of this model was studied, the stability of the walking was analyzed, and a full-state linear feedback walking stabilizer was designed. Simulation results show that the model can walk down a slope without any actuator and there are two unstable walking gaits on the same slope. The results also indicate that the model can realize stable walking by adopting the full-state feedback stabilizer.

关 键 词：双足机器人 被动行走 稳定性 稳定器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]