带被动踝关节的双足机器人动力学及步态研究

摘要

欠驱动双足步行机器人是仿人机器人领域研究的热点之一.针对带有被动踝关节的双足机器人,建立了五杆四驱动模型,对模型进行动力学分析.根据拉格朗日原理,建立机器人单足支撑动力学模型和基于碰撞的双足支撑动力学模型.建立完整的欠驱动双足步行机器人动力学模型.对机器人步态进行了规划.规划了欠驱动机器人的时不变步态;利用贝塞尔多项式拟合出虚拟约束的轨迹,给出了欠驱动机器人轨迹规划的算法;采用极限环方法,通过验证庞加莱回归映射不动点稳定性,验证了极限环的稳定性,从而验证了机器人步态的稳定性.%The underactuated biped walking robot is one of the hotspot in research of humanoid robot.Aimed at biped robot with a passive ankle,the five-bar model was established.The model of dynamics analysis was introduced.According to the principle of Lagrangian,single support dynamics model was established and also the double support dynamics model based on collision.The complete underactuated biped walking robot dynamics model was established.And introduced the robot gait planning.Planned the time-invariant gait of the underactuated robot.By using Bessel polynomial,this paper fitted out the trajectory of virtual constraint.And gave the algorithm of the underactuated robot gait planning.Used the limit cycle method to verify the Poincare return-mapping fixed point's stability.The stability of the limit cycle was also proved.Verified the stability of the robot gait.