脉冲推力作用下半被动双足机器人的行走动力学分析
作者:
作者单位:

1.桂林电子科技大学电子工程与自动化学院;2.桂林电子科技大学数学与计算科学学院

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中图分类号:

TP24

基金项目:

国家自然科学基金项目(11662001,11771105),广西自然科学基金项目(2018GXNSFAA138177),广西科技计划项目(AD20297006),广西中年教师能力提升项目(2019KY0228)


Walking dynamic analysis of a semi-passive biped robot under impulse thrust
Author:
Affiliation:

1.School of Electronic Engineering and Automation, Guilin University of Electronic Technology;2.School of Mathematics and Computing Science, Guilin University of Electronic Technology

Fund Project:

National Natural Science Foundation of China under Nos. 11662001 and 11771105, the Natural Science Foundation of Guangxi Province under No. 2018GXNSFAA138177, Guangxi Science and Technology Project (No. AD20297006), and the Young and Middle-aged Teachers Ability Promotion Project of Guangxi District (No. 2019KY0228).

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    摘要:

    为了提高半被动双足机器人在水平地面上行走的稳定性,本文研究了一种脉冲推力作用下半被动双足 机器人的复杂动力学行为. 以最简单的特殊的行走模型为动力学模型,采用支撑腿脚后跟脉冲推力作为双足机 器人行走动力源. 鉴于系统模型的高度非线性,把连续阶段的非线性微分方程线性化;利用角动量守恒和脉冲 推力构造一个二维离散映射;采用离散映射的不动点及其特征值分析系统周期步态的存在性和稳定性;接着讨 论系统的倍周期分岔; 之后对系统的分岔进行控制. 在理论分析的基础上,通过MATLAB 软件对半被动双足机 器人的行走动力学进行仿真实验,理论分析和仿真实验符合.仿真实验表明,在水平地面上行走的半被动双足 机器人具有稳定的周期-1步态和周期-2步态.

    Abstract:

    In order to improve the walking stability of a semi-passive biped robot on horizontal ground, the complex dynamic behavior of the semi-passive biped robot under impulse thrust is studied in this paper. Taking the simplest special walking model as the dynamic model, the impulse thrust of the heel of the stance leg is used as the walking power source of the semi-passive biped robot. In view of the highly nonlinear of the system model, the nonlinear differential equation in continuous phase is linearized. A two-dimensional discrete map is constructed by using the conservation of angular momentum and impulse thrust. The existence and stability of the periodic gait of the system are analyzed by using the fixed points and theris eigenvalues of the discrete map. The period-doubling bifurcation of the system is discussed. Then the bifurcation of the system is controlled. On the basis of theoretical analysis, the walking dynamics of the semi-passive biped robot is simulated by MATLAB software, the theoretical analysis is consistent with the simulation experiment. The simulation experiment show that the semi-passive biped robot walking on the horizontal ground has stable period-1 gait and period-2 gait.

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历史
  • 收稿日期:2022-04-23
  • 最后修改日期:2023-03-27
  • 录用日期:2022-10-10
  • 在线发布日期: 2022-10-22
  • 出版日期: