类圆规双足被动行走模型及其稳定性

CompassLike Passive Dynamic Walking Model and Its Stability

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.

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

Abstract:

This paper investigates a compasslike passive dynamic walking model. Horizontal and vertical DOFs （degrees of freedom) 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.

Key words:stability; compasslike model; passive dynamic walking; biped locomotion; robotics