根据袋鼠的生物结构特性，建立了具有柔性脚趾的仿袋鼠跳跃机器人刚柔混合模型。利用拉格朗日方法建立了机器人在着地阶段的动力学方程。结合实例，应用Matlab7．0分别对柔性脚趾的弹性势能、地面的作用力、躯干质心位移、躯干加速度、踝关节位移以及各关节驱动力矩的变化进行了计算和仿真；并与具有刚性脚趾的仿袋鼠跳跃机器人刚性模型进行了对比分析。结果表明：柔性脚趾减轻了着地时机器人与地面的振动和冲击，提高了跳跃机器人的落地稳定性。%A rigid-flexible model is established for analysis of the hopping kangaroo robot with compliant toe based on the kangaroo＇s biological architecture. The system dynamic equations are derived using the Lagrange equations during the touch-down phase. With an example, the characteristics of the robot is studied by calculation and simulation with Matlab7.0 such as the elasticity energy of the toes, the force of ground, the center of mass displacement of its trunk, the center of mass acceleration of its trunk, the displacement of its ankle and joint torques, and the change curves of them are compared with a rigid model for the hopping kangaroo with rigid toes. The result shows that the compliant toes can effectively reduce the impact during the touch-down phase, and can improve the touchdown stability of the robot.
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