步行机摆动腿着地冲击问题分析

ANALYSIS ON IMPACT EFFECTS OF SWING LEG IN DYNAMIC WALKING

摆动腿着地冲击产生的滑动和弹跳破坏了单足支撑态到双足支撑态的直接过渡,是动态步行控制的一大问题.文章对着地冲击过程进行动态建模,并用仿真分析了影响冲击后步行机运动状态的一系列因素,在此基础上提出防止滑动和弹跳所必须满足的条件以及影响冲击后步行运动状态的要素.

The sliding and bouncing which occurs when the swing leg is contacting the ground destroys the direct support-phase transfer during biped walking. In this paper, we attempt to solve this problem. The whole process of landing impact is analysized through dynamic modeling on a biped mechanism, and a motion simulation is carried out to show how the post-impact states of the biped are affected by some factors. Basing on the experimental results, we provide the conditions that must hold to prevent sliding and bouncing at impact and the factors that determine the post-impact walking velocity.