双足机器人虚拟斜坡行走的抗扰能力研究

：在无外部传感器的开环条件下，应用虚拟斜坡行走方法在平面双足机器人Stepper-2D 上实现了10%腿 长的跨越台阶抗扰行走．为了研究虚拟斜坡行走的抗扰能力，引入了地面台阶扰动，利用跨越台阶前后截面状态之 间的关系证明了台阶扰动最终可以转化为系统的初始状态扰动，虚拟斜坡行走良好的抗扰性能来源于自身不动点的 稳定性．通过分析过渡过程中系统截面状态之间的关系，得到了系统能够跨越台阶的充要条件，并研究了腿长缩短 系数β 、瞬间伸长角θ*II 以及两腿夹角φ0和所能跨越的最大相对障碍高度之间的关系，对所取得的10%腿长的跨越 台阶抗扰行走实验结果给出了理论解释．

On Disturbance Rejection of the Bipedal Robots in Virtual SlopeWalking

Under the open-loop condition without external sensing devices, the step-handling walking with relative step height of 10% leg length is realized on a planar bipedal robot Stepper-2D by using virtual slope walking. In order to study the disturbance rejection of virtual slope walking, the ground step disturbance is introduced. Based on the relationship between the pre and post system section states during the step-handling process, it is proved that the step disturbance can be transformed into the perturbation of initial system states and good performance of disturbance rejection of virtual slope walking comes from the stabilizing mechanism of the fixed point. Based on the analysis on the system section states during the transition process, the necessary and sufficient condition for the system to recover from the step disturbance is obtained, further the effect of leg length shorten ratio β, instantaneous extension angle θ*II and inter-leg angle φ0 on the maximal relative step height is investigated, and the theoretical explanation for the experimental results of 10% leg length step handling walking is then presented.