基于髋部质量的被动步行机器人稳定性和鲁棒性  

Stability and robustness of biped passive dynamic robot based on hip mass

作　　者：吴晓光[1] 赵杰[1] 臧希喆[1] 朱磊[2] 

机构地区：[1]哈尔滨工业大学机器人技术及系统国家重点实验室,黑龙江哈尔滨150080 [2]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《中南大学学报（自然科学版）》2012年第6期2157-2164,共8页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(60905049);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：采用一种更接近于人类行走的匀质圆规步态模型,运用Lagrange法和碰撞时刻角动量守恒原理分别建立机器人的摆动模型及碰撞模型。基于对模型步态收敛域与外界扰动快速抑制的准确描述,将全局稳定性分析与局部稳定性分析相结合,对模型进行初始的参数优化配置,并建立Proe样机模型;通过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分析,最终获得模型参数的最优化配置,并通过实物样机的行走实验进行理论分析验证。仿真结果表明:具有合理髋关节质量的被动步行机器人有更强的行走稳定性与鲁棒性。The effect of upper body on the stable and robust walking of passive dynamic walking robot was researched,based on a compass-gait model which more closely resembled the human walking.The swing stage and the collision stage were modeled by Lagrange method and the principle of angular momentum conservation.Based on the proper description on the basins of attraction of the robot’s gait and the detection of the robot’s quick disturbance-rejection capabilities to random disturbances,the global stability analysis was combined with the local stability analysis.The initial parameters were configured optimally,and the Proe prototype model was built.The self-regulation of the walking gait under singular or continuous random disturbance was analyzed to obtain the optimized design parameters,thus the actual prototype was produced.The experiment on the actual prototype of dynamic model confirms that any passive dynamic robot with reasonable mass of hips performs more efficient and stable walking gait on a slight slope.

关 键 词：被动步行 机器人 双足 稳定性 POINCARÉ映射 吸引域 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]