有躯干双足机器人被动行走及其稳定器

摘要

采用Matlab仿真的方式构建了一个简单的有躯干双足机器人模型，研究了该模型在斜坡上的被动行走，分析了模型步行的稳定性，并设计了一个全状态线性反馈步行稳定器．研究结果表明：无任何驱动器的有躯干双足机器人能够实现沿斜坡而下的被动行走，其步行方式有两种，但均不稳定；设计的全状态反馈稳定器能够较好地稳定模型的被动行走．%A simulation model of a biped robot with torso was established using Matlab, the passive dynamic walking of this model was studied, the stability of the walking was analyzed, and a full-state linear feedback walking stabilizer was designed. Simulation results show that the model can walk down a slope without any actuator and there are two unstable walking gaits on the same slope. The results also indicate that the model can realize stable walking by adopting the full-state feedback stabilizer.