Research on Dynamic Parameters of a Passive Walking Robot with Flat Feet

Gao Jiachang; Gao Jianshe; Tao Zheng

doi:10.16578/j.issn.1004.2539.2022.12.004

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Research on Dynamic Parameters of a Passive Walking Robot with Flat Feet

Theory·Research | 更新时间：2023-01-06

- Research on Dynamic Parameters of a Passive Walking Robot with Flat Feet
- Journal of Mechanical Transmission Vol. 46, Issue 12, Pages: 22-30(2022)
- 作者机构：
  
  1.郑州大学机械与动力工程学院，河南郑州 450001
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.12.004
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高家昌,高建设,陶征.被动步行平足机器人动力学参数研究[J].机械传动,2022,46(12):22-30.

Gao Jiachang,Gao Jianshe,Tao Zheng.Research on Dynamic Parameters of a Passive Walking Robot with Flat Feet[J].Journal of Mechanical Transmission,2022,46(12):22-30.
高家昌,高建设,陶征.被动步行平足机器人动力学参数研究[J].机械传动,2022,46(12):22-30. DOI： 10.16578/j.issn.1004.2539.2022.12.004.

Gao Jiachang,Gao Jianshe,Tao Zheng.Research on Dynamic Parameters of a Passive Walking Robot with Flat Feet[J].Journal of Mechanical Transmission,2022,46(12):22-30. DOI： 10.16578/j.issn.1004.2539.2022.12.004.

摘要

为了研究动力学参数对双足机器人步态的影响，以被动步行平足机器人为研究对象，基于拉格朗日方法和角动量守恒定律，建立系统动力学方程并进行了数值仿真。通过极限环阐述了平足机器人的周期步态；利用分岔理论分析了脚掌、脚跟、质心位置、质量比和斜面角度对平足机器人稳定步态的影响；使用点映射在二维参数空间中追踪了平足机器人的动力学行为。结果表明，平足机器人的能量损耗主要发生在摆动腿与斜面碰撞时；随着脚跟、质心位置、质量比的变化，平足机器人步态出现逆倍周期分岔现象，且平足机器人对脚跟长度、质心位置的变化十分敏感；同时，通过平足机器人在二维参数空间中维持稳定步态的动力学参数组合，以及不同足形对机器人全局稳定性的影响，证明了足形对双足机器人稳定行走的重要性。研究成果为双足机器人的结构设计、节能控制提供了重要依据。

Abstract

In order to study the influence of dynamic parameters on the gait of biped robots, a passive walking robot with flat feet is taken as the research object, the dynamic equation using Lagrange method and conservation of angular momentum is established and the numerical simulation is carried out. The gait of the flat-foot robot's periodic motion is explained with the help of a stable limit cycle. Based on the bifurcation theory, the effects of the sole, heel, center of mass position, mass ration, and inclined plane inclination on the stable gait of the flat-foot robot are analyzed. The point mapping is used to quickly track the dynamic behavior of the system in the two-dimensional parameter space. The results show that the energy loss of the flat-foot robot mainly occurs when the swinging leg collides with the inclined plane. With the change of the heel, center of mass position, and mass ratio, the gait of the flat-foot robot presents inverse doubling periodic bifurcation. It is found that the flat-foot robot is very sensitive to changes in the position of the heel and the center of mass. At the same time, through the combination of dynamic parameters of the flat-foot robot in maintaining a stable gait in the two-dimensional parameter space and the influence of different foot shapes on the global stability of the system, the importance of the foot shape on the stable walking of the biped robot is proved. The research results provide an important basis for the structural design and energy-saving control of the biped robot.

关键词

双足机器人极限环分岔与混沌动力学参数参数空间

Keywords

Biped robotLimit cyclesBifurcation and chaosDynamic parametersParameter space

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