含有关节型腿的四足机器人跳跃步态研究

Research on the leaping gait of four feet robot with articulated legs

建立了具有非线性刚度的关节型腿的质量-弹簧倒立摆模型,根据拉格朗日方程建立该倒立摆的运动方程,给出了倒立摆在跳跃运动周期中各运动相的转换条件,通过数值计算证明了倒立摆能够实现稳定的跳跃运动;建立了四足机器人跳跃步态的分析模型,通过数值方法构建了跳跃步态的庞加莱映射,通过牛顿迭代法寻找不动点,数值计算证明了四足机器人以某不动点为初始条件能够实现稳定的跳跃步态。

The model of mass-spring inverted pendulum for the articulated leg possessing nonlinear stiffness was established. On the basis of Lagrangian equation the motion equation of this inverted pendulum was built up, and the conversion conditions of each movement phase of the inverted pendulum during the moving period of leaping was presented. Through numerical calculation it was testified that the inverted pendulum could achieve steady leaping movement. The analytical model of leaping gait of four feet ro-bot was set up. Poincare mapping of leaping gait was constructed by means of numerical method and by way of Newton iterative method to seeking the immovable point. Numerical calculation testified thatthe four feet robot that takes certain immovable point as the primary condition could achieve steady leaping gait.