| 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].北京科技大学学报,2012(1):59-64. |
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| 作者姓名： | 冯帅 孙增圻 |
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| 作者单位： | 清华大学计算机科学与技术系;北京控制工程研究所 |
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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 |
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].Journal of University of Science and Technology Beijing,2012(1):59-64. |
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| Authors: | FENG Shuai SUN Zeng-qi |
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| Institution: | 1) 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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