用连杆组合的拟人双足步行机的设计与动态步行控制

DesignSimulation andKinetic WalkingControl oftheWalking Machine of Both Feet Personifiction Made up of Connecting Rods

本文应用一种简捷的连杆组合建立了拟人两足步行机的结构模型，着重研究了它的动态步行稳定性，深入讨论了直线步行规划和对踝关节的力矩控制及其实现方法。实施这一规划，完全避免了步行机侧向倾倒的可能性。由于具有反馈的力矩控制，在无需复杂的硬、软件条件下，达到了对踝关节的控制要求，并获得较高稳态的仿真效果。为适应作业领域的总体要求，给出了步行机全方位性表达及其判据。这对于研究步行机实现高级步态及其对坡地、阶梯地的适应性研究奠定了初步基础。

y using a special simple and direct composite of connecting rods,this paoer builds up a structural model of the walk-ing machine with both feet personification,and sets emphasis on studying the stability of walking state,thoroughly discussesthe program of walking alongstraight line and moment control of anklejoints.The enforcement of the program will com-pletey avoid the possibtilty of the walking machine to tilt from side to side.Because it is Posscssed of moment conrtol by feedback,all demands of the control will be satisfied under the condition of no sofuware and hardware,and will get the simu-lation property and concerned data have been presented in the paper.This will lay a primary foundation for further study-rectionproperty and concerned data hae been presented in the paper.This will lay a primary foundation for further study-ing the ways of realizing senior step-state and suitability for walking on slope and steped road.