台阶环境下被动行走机器人步态的阵发性与激变现象  

Intermittency and crisis of gaits of a passive walking robot in a step environment

作　　者：高建设[1] 高亦阳 赵佳毅 梁杰[1] 饶晓波 GAO Jianshe;GAO Yiyang;ZHAO Jiayi;LIANG Jie;RAO Xiaobo(School of Mechanical and Power Engineering,Zhengzhou University,Zhengzhou 450001,China)

机构地区：[1]郑州大学机械与动力工程学院,河南郑州450001

出　　处：《哈尔滨工程大学学报》2025年第2期320-327,共8页Journal of Harbin Engineering University

基　　金：湖南省高新技术产业科技创新引领计划(2020SK2027)。

摘　　要：被动行走是双足机器人类实现低能耗拟人步态的重要途径,但目前研究多集中于斜面环境而很少涉及常见的台阶环境,仅考虑斜面一种行走环境制约了被动行走理论研究成果的适用性。本文以一种圆弧足被动行走机器人为研究对象,建立了机器人在台阶环境下的动力学模型,采用分岔图和李雅普诺夫指数等数值工具,分析了机器人的步态动力学行为,发现了混沌行走模式中的周期窗口。研究表明:周期窗口内存在步态通向混沌的阵发性(I型)路径和(内部)激变路径,均会导致步态的混乱程度发生剧烈变化。其中,I型阵发由鞍结分岔所引起,内部激变由不稳定周期轨道与“弱”混沌吸引子的碰撞所产生。研究结果拓展了被动行走理论的适用范围,有助于理解被动行走机器人的混沌步态。Passive walking is important for biped robots to realize human-like gaits.However,existing studies mostly focus on the slope environment and rarely involve the common step environment,resulting in the limited applicability of passive walking theory.In this study,a dynamic model of a passive walking robot with round-arc feet in a step environment is established,and the robot′s gait dynamics are analyzed using numerical tools,such as a bifurcation diagram and Lyapunov exponents.A periodic window within the chaotic walking pattern is also identified.Results reveal two routes to chaos,namely,the intermittency(type-I)route and the(interior)crisis route in the periodic window,both of which can lead to tremendous changes in the degree of gait chaos.Type-I intermittency arises through a saddle-node bifurcation,whereas the interior crisis is caused by the collision between an unstable periodic orbit and a“weak”chaotic attractor.These results extend the application of passive walking theory and help further understand chaotic gaits in passive walking robots.

关 键 词：被动行走 双足机器人 步态动力学 分岔 混沌 李雅普诺夫指数 阵发性 激变 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]