The effect of upper body on the stable and robust walking of passive dynamic walking robot was researched, based on a compass-gait model which more closely resembled the human walking. The swing stage and the collision stage were modeled by Lagrange method and the principle of angular momentum conservation. Based on the proper description on the basins of attraction of the robot's gait and the detection of the robot's quick disturbance-rejection capabilities to random disturbances, the global stability analysis was combined with the local stability analysis. The initial parameters were configured optimally, and the Proe prototype model was built. The self-regulation of the walking gait under singular or continuous random disturbance was analyzed to obtain the optimized design parameters, thus the actual prototype was produced. The experiment on the actual prototype of dynamic model confirms that any passive dynamic robot with reasonable mass of hips performs more efficient and stable walking gait on a slight slope.%采用一种更接近于人类行走的匀质圆规步态模型,运用Lagrange法和碰撞时刻角动量守恒原理分别建立机器人的摆动模型及碰撞模型.基于对模型步态收敛域与外界扰动快速抑制的准确描述,将全局稳定性分析与局部稳定性分析相结合,对模型进行初始的参数优化配置,并建立Proe样机模型;通过单次与连续外界扰动下不同样机模型步态的自身调节变化分析,最终获得模型参数的最优化配置,并通过实物样机的行走实验进行理论分析验证.仿真结果表明:具有合理髋关节质量的被动步行机器人有更强的行走稳定性与鲁棒性.
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