双足机器人半被动行走固定点全局稳定性分析

张奇志, 周亚丽

张奇志, 周亚丽. 双足机器人半被动行走固定点全局稳定性分析[J]. 工程力学, 2013, 30(3): 431-436. DOI: 10.6052/j.issn.1000-4750.2011.10.0674
引用本文: 张奇志, 周亚丽. 双足机器人半被动行走固定点全局稳定性分析[J]. 工程力学, 2013, 30(3): 431-436. DOI: 10.6052/j.issn.1000-4750.2011.10.0674
ZHANG Qi-zhi, ZHOU Ya-li. GLOBAL STABILITY ANALYSIS FOR THE FIXED POINT OF SEMI-PASSIVE BIPED ROBOT WALKING[J]. Engineering Mechanics, 2013, 30(3): 431-436. DOI: 10.6052/j.issn.1000-4750.2011.10.0674
Citation: ZHANG Qi-zhi, ZHOU Ya-li. GLOBAL STABILITY ANALYSIS FOR THE FIXED POINT OF SEMI-PASSIVE BIPED ROBOT WALKING[J]. Engineering Mechanics, 2013, 30(3): 431-436. DOI: 10.6052/j.issn.1000-4750.2011.10.0674

双足机器人半被动行走固定点全局稳定性分析

基金项目: 国家自然科学基金项目(11172047,11072038);北京市属高等学校人才强教深化计划项目(PHR201106131)
详细信息
    通讯作者:

    张奇志

  • 中图分类号: TP24

GLOBAL STABILITY ANALYSIS FOR THE FIXED POINT OF SEMI-PASSIVE BIPED ROBOT WALKING

  • 摘要: 研究半被动双足机器人行走过程固定点的全局稳定性问题。使用罗盘机器人模型,在脚与地面冲击前,采用沿着支撑腿方向的脉冲推力作为行走的动力源,采用庞加莱映射方法分析了半被动双足机器人行走的固定点及其稳定性。通过引入一个限位器使两腿间的夹角在脚与地面冲击时保持为常数。证明了半被动双足机器人行走过程固定点的存在性及其全局稳定性,并讨论了固定点存在的动力学附加条件。仿真结果表明:该文提出的采用脉冲推力作为行走的动力源、采用限位器使两腿间的夹角在脚与地面冲击时保持为常数的半被动机器人可以在水平面上稳定行走,并且固定点对干扰具有鲁棒性。
    Abstract: In this paper, the global stability for fixed point of semi-passive biped robot walking is studied. The compass liked biped robot is powered by applying an impulsive push along the stance leg just before the heel strikes. The fixed point and its global stability of semi-passive biped robot walking are discussed based on Poincaré map. The inter-leg angle at heel-strike is always a constant by introducing a stopper. The existence of a fixed point and its global stability are proved for the semi-passive biped robot walking. The dynamical additional conditions for the existence of a fixed point are discussed. The simulation results show that the proposed semi-passive biped robot powered by applying an impulsive push, and introducing a stopper to keep a constant inter-leg angle at heel-strike can walk stably, and the fixed point is robust to various disturbances.
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出版历程
  • 收稿日期:  2011-10-11
  • 修回日期:  2011-11-20
  • 刊出日期:  2013-03-24

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