Escaping Analysis of the Walking Robot with Dynamic Nonholonomy

摘要

This paper is dedicated to the mechatronic design of the model robot walking along the prescribed trajectory with escaping motions with variable center of gravity. The structural analysis is piecewise mapped in geometric space instead from the viewpoint of topology. Traditionally, such escaping phenomenon is usually ignored because of strong nonlinear features. The so-called escaping motion is defined as the instantaneous slippage at the interface of the robot leg and the ground with dynamic friction. To avoid the walking unbalanced circumstances, the escaping dynamics, not only onto the constrained space but also onto the unconstrained space, the concept of the constraint manifold is constructed and modulated during braking or cornering circumstances. This paper is dedicated to analyze the step-walking issues for the model robot with variable center of gravity. Finally, computer simulations of the walking robots are carefully made under the assumption of Coulomb's viscous friction to justify the advantages of the proposed algorithm.