有躯干双足机器人被动行走及其稳定器

详细信息

Passive dynamic walking of a biped robot with torso and its stabilizer

1. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;
2. Beijing Institute of Control Engineering, Beijing 100190, China

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.
- 双足机器人 /
- 被动行走 /
- 稳定性 /
- 稳定器
Abstract: 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.
- biped robots /
- passive dynamic walking /
- stability /
- stabilizers