基于弹簧—质量模型的仿袋鼠跳跃机器人步态稳定性研究

Gait Stability of Hopping Kangaroo Robot Based on Spring-mass Model

根据袋鼠跳跃运动的特点,建立了仿袋鼠机器人的弹簧—质量模型.采用拉格朗日法通过线性化近似分析建立了其动力学方程,并对其进行了着地阶段径向与横向运动分析.根据步态运动稳定性的条件,研究了仿袋鼠跳跃机器人顶点反射映像函数、固定点的存在性及其稳定性,获得了仿袋鼠机器人在跳跃过程中满足步态稳定性的各个参数的取值范围,以及各参数之间关系的显式表达式.最后,通过实例证明了采用线性化近似分析的有效性,并获得了仿袋鼠机器人稳定跳跃时各参数之间的变化关系.

Based on the hopping characteristics of kangaroos, a spring-mass model of hopping kangaroo robot is developed. The dynamic equation is established using Lagrange method and linear approximation. The radial motion and horizontal motion during stance phase are analysed. According to gait stability conditions, the apex return map function, existence of fixed point and stability of fixed point of hopping kangaroo robot are studied. The range of each parameter which satisfies gait stability during kangaroo robot hopping process and the explicit relational expression of parameters are obtained. Finally, the linear approximation analysis is proved by example to be effective and the relation among parameters when kangaroo robot hops stably is obtained.