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为解决机器人的侧向平衡问题,同时为使机器人的行走空间由二维扩展到三维,确立了可以侧向周期稳定偏转的有弹性脚的欠驱动步行机器人模型。根据混合动力系统的特点,建立了侧向摆动方程及脚碰撞地面的方程,并利用数值仿真得到了不同初始状态下的稳定极限环。根据运动状态分析,找到了弹性脚的欠驱动步行机器人所允许的侧向偏转范围。施加基于能量的控制可以消除摆动过程中出现的干扰,使欠驱动步行机器人回归到稳定状态,稳定的侧向摆动保证了欠驱动步行机器人的稳定行走。
In order to solve the problem of lateral balance of the robot and to expand the robot’s walking space from two-dimensional to three-dimensional, an elastic-foot underactuated walking robot model with lateral stability and lateral deflection was established. According to the characteristics of hybrid system, the equations of lateral swing equation and the ground collision of foot are established. The stability limit cycles under different initial conditions are obtained by numerical simulation. According to the analysis of the motion state, the allowable lateral deflection range of the under-driven walking robot of the elastic foot was found. The application of energy-based control can eliminate the disturbance in the swinging process and return the underactuated walking robot to a steady state. The stable lateral swing ensures the stable walking of the underactuated walking robot.