基于双弹簧负载倒立摆模型的步态模拟  

Gait Simulation Based on Model of Double Spring-Loaded Inverted Pendulum

作　　者：赵炳炎 陈宗华 刘伟俊 ZHAO Bing-yan;CHEN Zong-hua;LIU Wei-jun(College of Physics and Telecommunication Engineering,Yulin Normal University1,Yulin,Guangxi 537000,China;College of Physical Education and Health,Yulin Normal University,Yulin,Guangxi 537000,China)

机构地区：[1]玉林师范学院物理与电信工程学院,广西玉林537000 [2]玉林师范学院体育健康学院,广西玉林537000

出　　处：《河北北方学院学报（自然科学版）》2021年第1期10-15,22,共7页Journal of Hebei North University:Natural Science Edition

基　　金：国家自然科学基金(理论物理专项):“漂移被湍动中超热电子的动力学研究”(11847144)。

摘　　要：利用双弹簧负载倒立摆模型模拟出双足在各类体育运动项目中走、跑、跳的稳定步态,并适配出合适的模型参数。基于质点动力学建立双弹簧负载倒立摆模型在各种状态(相)下的动力学方程,分析各相间的切换条件,利用MATLAB求解各相的动力学方程,并对解进行条件判断,从而变相循环。在给定初始条件下,通过适配合适的模型参数,可以稳定地模拟出双足前进时的走、跑、跳等步态。Dynamic equations of double spring-loaded inverted pendulum model under various states(phases)are established based on particle dynamics,and the switching conditions between phases are analyzed.The dynamics equations of phases are solved by MATLAB.Conditional judgment is made on the solution,so that the phase change cycle can be achieved.Under appropriate model parameters and initial conditions,the double spring-loaded inverted pendulum model can steadily simulate the walking,running and jumping gait of biped creatures.

关 键 词：弹簧负载倒立摆 步态模拟 走路模拟 跑步模拟 切换系统 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]