柔性双段腿的SLIP模型参数敏感性分析  

Parameter sensitivity analysis of SLIP for compliant two-segment leg

作　　者：冯华山[1] 李勇政[1] 王润孝[1] 李军[1] 

机构地区：[1]西北工业大学机电学院,西安710072

出　　处：《中国科技论文》2014年第4期470-473,488,共5页China Sciencepaper

基　　金：国家高技术研究发展计划(863计划)资助项目(2011AA041101);高等学校博士学科点专项科研基金资助项目(20106102120021)

摘　　要：为了反映腿部多段串联的多参数耦合特性,以SLIP(spring loaded inverted pendulum)模型为基础,建立了小腿含有串联线性伸缩弹簧的机器人柔性双段腿动力学模型。通过仿真分析其运动,获得柔性双段腿弹簧刚度、触地角度、虚拟腿长、膝关节角度、质量分布等参数的稳定域。通过对各个参数稳定域进行归一化处理和曲线拟合,获得参数稳定域变化曲线及参数敏感度排序。最后基于ADAMS与MATLAB联合仿真验证了柔性双段腿模型中参数敏感度排序的正确性。In order to reflect the multi-parameter coupling characteristics of serials leg structure,the dynamical model of a compli-ant two-segment leg containing serials elastic component in its lower leg is built based on SLIP,and analysis of locomotion is car-ried out by simulation.Via the simulation,the region of stable running for parameters,like spring stiffness,touch down angle, virtual leg length,knee angle,total mass,are determined.Normalization and curve fitting of parameter regions help to get each parameter’s variation tendency and parameter sensitivity order.Finally,co-simulation with ADAMS and MATLAB proves that the parameter sensitivity analysis is right.

关 键 词：机器人学 柔性机构 SLIP 模型 参数敏感性分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]