双足机器人着地振动研究

Study on the touchdown vibration of biped robot

提出了一种增加脚趾环节新的腿部机构双足机器人,建立了系统的弹性动力学模型,利用MATLAB的SIM IL-INK功能对振动模型进行了计算,并仿真了脉冲输入引起的系统振动,揭示了系统振动产生的原因。对振动曲线进行了分析,提出了缓解振动的方法。

A kind of biped robot with an addition of toe links in its new leg mechanism was put forward. The elastic-dynamics model of system was established. Calculations on the vibration model were carried through by the use of SIMILINK function of MATLAB, the systematic vibration caused by pulse input was simulated, and revealed the reason of producing the systematic vibration. Analysis on the vibration curve was carried out and the method for relieving the vibration was put forward.