Model Decoupling and Walking Programming of Biped Robot

摘要

The model of biped robot is classical non-linear strong coupling. The suspended point is the crossing of the upper body and two feet. The three decoupling relative independent models about upper body and two feet is given when biped robot is of uniform rectilinear motion at the suspended point, and the piecewise linear process of non-linear mathematic model of two feet of biped robot is given at the rectangular coordinate, on the base of singular disturbance theory. At the same time the conclusion that piecewise linear mathematic model is widely stable is proved based on the stability theory of Lyapnov. After biped robot is simplified into a plane five-bar model, the scheme of real-time walking program is presented when biped robot is of uniform rectilinear motion at the suspended point. The simulation experiment proves that the walking programming can make biped robot move rectilinearly, fast and stably, while the suspended point is of rectilinear motion and the shock of feet to ground is avoided.