| 有躯干双足机器人被动行走及其稳定器 |
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| 引用本文： | 冯帅, 孙增圻. 有躯干双足机器人被动行走及其稳定器[J]. 工程科学学报, 2012, 34(1): 59-64. DOI: 10.13374/j.issn1001-053x.2012.01.011 |
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| 作者姓名： | 冯帅 孙增圻 |
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| 作者单位： | 1. 清华大学计算机科学与技术系, 北京 100084; |
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| 摘 要： | 采用Matlab仿真的方式构建了一个简单的有躯干双足机器人模型,研究了该模型在斜坡上的被动行走,分析了模型步行的稳定性,并设计了一个全状态线性反馈步行稳定器.研究结果表明:无任何驱动器的有躯干双足机器人能够实现沿斜坡而下的被动行走,其步行方式有两种,但均不稳定;设计的全状态反馈稳定器能够较好地稳定模型的被动行走.
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| 关 键 词： | 双足机器人 被动行走 稳定性 稳定器 |
| 收稿时间： | 2011-05-16 |
Passive dynamic walking of a biped robot with torso and its stabilizer |
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| FENG Shuai, SUN Zeng-qi. Passive dynamic walking of a biped robot with torso and its stabilizer[J]. Chinese Journal of Engineering, 2012, 34(1): 59-64. DOI: 10.13374/j.issn1001-053x.2012.01.011 |
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| Authors: | FENG Shuai SUN Zeng-qi |
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| Affiliation: | 1. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;2. Beijing Institute of Control Engineering, Beijing 100190, China |
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| Abstract: | A simulation model of a biped robot with torso was established using Matlab, the passive dynamic walking of this model was studied, the stability of the walking was analyzed, and a full-state linear feedback walking stabilizer was designed. Simulation results show that the model can walk down a slope without any actuator and there are two unstable walking gaits on the same slope. The results also indicate that the model can realize stable walking by adopting the full-state feedback stabilizer. |
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| Keywords: | biped robots passive dynamic walking stability stabilizers |
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