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研究半被动双足机器人行走过程固定点的全局稳定性问题。使用罗盘机器人模型,在脚与地面冲击前,采用沿着支撑腿方向的脉冲推力作为行走的动力源,采用庞加莱映射方法分析了半被动双足机器人行走的固定点及其稳定性。通过引入一个限位器使两腿间的夹角在脚与地面冲击时保持为常数。证明了半被动双足机器人行走过程固定点的存在性及其全局稳定性,并讨论了固定点存在的动力学附加条件。仿真结果表明:该文提出的采用脉冲推力作为行走的动力源、采用限位器使两腿间的夹角在脚与地面冲击时保持为常数的半被动机器人可以在水平面上稳定行走,并且固定点对干扰具有鲁棒性。
The problem of global stability of fixed points for semi-passive biped robot is studied. Using the compass robot model, the impulsive thrust along the supporting leg is used as the power source for walking before the impact on the foot and the ground. The Poincaré mapping method is used to analyze the fixed point and its stability of the semi-passive biped robot walking. By introducing a stopper so that the angle between the legs in the foot and ground to maintain a constant impact. The existence and global stability of the fixed points of the semi-passive biped robot are proved. The additional conditions for the existence of the fixed points are also discussed. The simulation results show that the proposed method uses pulse thrust as the power source for walking, and the semi-passive robot which adopts the limiter to keep the angle between the two legs constant during the impact between the foot and the ground can walk steadily on the horizontal plane and be fixed Point-to-interference is robust.