可侧向摆动的欠驱动双足机器人

为解决机器人的侧向平衡问题,同时为使机器人的行走空间由二维扩展到三维,确立了可以侧向周期稳定偏转的有弹性脚的欠驱动步行机器人模型。根据混合动力系统的特点,建立了侧向摆动方程及脚碰撞地面的方程,并利用数值仿真得到了不同初始状态下的稳定极限环。根据运动状态分析,找到了弹性脚的欠驱动步行机器人所允许的侧向偏转范围。施加基于能量的控制可以消除摆动过程中出现的干扰,使欠驱动步行机器人回归到稳定状态,稳定的侧向摆动保证了欠驱动步行机器人的稳定行走。

Passive Biped Robot with Lateral Motion

In order to solve the problem of the lateral balance of the robot and expand the walking space into 3D dimension,a passive biped robot model with elastic feet,periodic and stable lateral motion,is established.On the basis of hybrid dynamical system characteristics,equations on the lateral swing and the collision between the feet and the ground are proposed in this paper.Some numerical simulations were carried out and the obtained results deonstrate stable limit cycles with different initial conditions.By analyzing the movement state,the lateral swing scope of the passive biped robot model was found.Applying the control based energy,the disturbance during the lateral motion can be eliminated,which makes the passive biped robot model return to the stable state.Furthermore,the stable lateral motion ensures the walking stability of the passive biped robot.