四足机器人被动跳跃步态动力学分析与仿真

在四足机器人被动跳跃步态分析模型的基础上,采用拉格朗日法推导了该步态中各运动相的动力学方程，并根据跳跃步态特征给出了基于事件的运动相转换方程。定义了四足机器人被动跳跃步态的庞加莱映射，利用牛顿迭代法获得了庞加莱映射的某个固定点。在MATLAB中以该固定点为初始条件对各运动相动力学方程进行了数值积分，得到了被动跳跃步态的周期性运动曲线，证明了四足机器人在某个初始条件下能够实现稳定的被动跳跃步态。
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Dynamics Analysis and Simulation on Quadruped Robot in Passive Bound Gait

Based on the analysis model of quadruped robot in passive bound gait, the dynamics equations of quadruped in the phases of bound gait were derived with Lagrange method,and the transition equations between phases were presented.Then the Poincar map of bound gait was defined,and a fixed point of the map was figured out with Newton-Raphson method. Taking the fixed point as initial condition, the dynamics equations were integrated numerically with MATLAB,and the periodic motion curves were achieved.It is proved that quadruped robot can realize steady passive bound gait with a suitable initial condition.