上斜坡双足机器人行走的稳定性分析  

Stability Analysis of a Bipedal Robot Walking up a Slope

作　　者：仝丽妍 蒋贵荣[1] 江波 龙腾飞 TONG Liyan;JIANG Guirong;JIANG Bo;LONG Tengfei(School of Mathematics and Computing Science,Guilin University of Electronic Technology,Guilin Guangxi 541004,China;School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学数学与计算科学学院,广西桂林541004 [2]桂林电子科技大学电子工程与自动化学院,广西桂林541004

出　　处：《广西师范大学学报（自然科学版）》2024年第2期131-139,共9页Journal of Guangxi Normal University:Natural Science Edition

基　　金：国家自然科学基金(12271119)。

摘　　要：为了研究上斜坡双足机器人行走周期步态稳定性,采用拉格朗日方法建立双足机器人行走脉冲混杂系统,构造庞加莱映射,再通过对映射不动点的分析得到机器人行走周期步态的存在性及稳定性条件。研究结果表明:在斜坡角为0.1 rad的条件下,当线性脉冲推力各项系数选取合适参数时,双足机器人上斜坡行走系统存在稳定的周期-1步态;当脉冲推力的常数项系数取值不同时,其对应产生不同类型的周期-1步态;当行走系统状态参数改变时,其产生不同运动状态的周期-1步态。In order to study the stability of the walking periodic gait of a bipedal robot on an upper slope,a walking impulse hybrid system is established by using the Lagrangian method,and the existence and stability conditions of the periodic gait are obtained by constructing a Poincarémapping and analyzing the fixed points of the mapping.The results show that under the condition that the slope angle is 0.1 rad,when an appropriate parameter is selected in the linear pulse thrust,there is a stable period-1 gait of the biped robot walking on the slope,and the different values of constant term of pulse thrustproduce different types of period-1 gait,and the period-1 gait with different motion states is produced when the walking system state parameters are changed.

关 键 词：双足机器人 脉冲推力 脉冲混杂系统 庞加莱映射 周期步态 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]