平面半被动双足机器人步态稳定性分析  

Gait stability analysis of flat semi-passive biped robot

作　　者：张朝旭[1] 张奇志[1] 周亚丽[1] 

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2014年第4期30-36,共7页Journal of Beijing Information Science and Technology University

基　　金：国家自然科学基金资助项目(11172047;11072038);北京市属高等学校人才强教深化计划资助项目(PHR201106131)

摘　　要：建立了以踝关节脉冲推力为动力源的平面半被动双足机器人模型,并推荐利用拉格朗日第二类方程得到机器人的动力学方程。为判断模型的稳定性,采用庞加莱映射方法分析了半被动双足机器人行走的固定点及其稳定性,并讨论了模型稳定行走的动力学附加条件。分析了模型中各机械参数对模型稳定性的影响。最后,在脉冲推力作用时添加扰动模型仍能稳定行走,证明模型对脉冲干扰具有鲁棒性。A model of planar biped semi-passive dynamic walking robot is constructed by using impulsive push as power source on ankle, and the dynamic equations are derived with Euler-Lagrange Equation. In order to determine the stability of the model, the fixed point and its global stability of semi- passive biped robot walking are analyzed based on Poincare map. The dynamic additional conditions for the stability are discussed. The effect of mechanical parameters on the stability is analyzed. Finally, the semi-passive biped robot powered by an impulsive push can keep walking stably, which proves that the model is robust to various disturbances.

关 键 词：双足机器人 半被动行走 脉冲推力 稳定性 鲁棒性 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]