| 类圆规双足被动行走模型及其稳定性 |
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| 引用本文： | 安康,刘成菊.类圆规双足被动行走模型及其稳定性[J].同济大学学报(自然科学版),2017,45(8):1209-1217. |
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| 作者姓名： | 安康 刘成菊 |
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| 作者单位： | 同济大学 电机与信息工程学院， 上海 201804；上海师范大学 信息与机电工程学院， 上海 200234,同济大学 电机与信息工程学院， 上海 201804 |
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| 基金项目： | 国家自然科学基金（61673300，61573260），上海市自然科学基金（16ZR1424600) |
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| 摘 要： | 研究一种两杆三质点类圆规双足被动行走模型,在行走模型上增加支撑脚横向和纵向两个自由度,以该模型为研究对象,求解被动动态行走步态,并分析其局部和全局稳定性.结果表明当模型的雅克比矩阵最大特征值在单位圆内且初始状态在吸引域内时,行走步态稳定.为理解双足行走的运动机理提供指导,同时也为设计稳定、高效的双足机器人提供分析思路.
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| 关 键 词： | 稳定性 类圆规模型 被动动态行走 双足运动 机器人学 |
| 收稿时间： | 2016/10/24 0:00:00 |
| 修稿时间： | 2017/6/5 0:00:00 |
Compass Like Passive Dynamic Walking Model and Its Stability |
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| AN Kang and LIU Chengju.Compass Like Passive Dynamic Walking Model and Its Stability[J].Journal of Tongji University(Natural Science),2017,45(8):1209-1217. |
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| Authors: | AN Kang and LIU Chengju |
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| Institution: | School of Electronics and Information Engineering, Tongji University, Shanghai 201804, China; College of Information, Mechanical and Electronic Engineering, Shanghai Normal University, Shanghai 200234, China and School of Electronics and Information Engineering, Tongji University, Shanghai 201804, China |
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| Abstract: | The research of passive dynamic walking provides new approach for studying biped robot walking. A passive dynamic machine can walk stably on a shallow slope without any control. This paper investigates a compass-like passive dynamic walking model. Horizontal and vertical DOFs are designed at the stance foot to calculate the normal and friction forces, and describe the push-off and heel-strike processes. The passive dynamic walking gaits are calculated, and the local and global stabilities are analyzed. The results show that the walking gait is stable when the maximal absolute eigenvalue of the Jacobian is within the unit circle and the initial conditions of the walking gait is within the basin of attraction. These studies can not only provide guidance for understanding the motion mechanism of biped walking, but also help us for designing stable and efficient biped robot. For example, mechanical parameters improvement and efficient control strategy design. |
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| Keywords: | stability compass-like model passive dynamic walking biped locomotion robotics |
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