脉冲推力作用下上楼梯双足机器人行走的建模与动力学分析

Modeling and Dynamics Analysis of an Ascending Stairs Biped Robot Under Impulse Thrust

本文研究脉冲推力作用下带伸缩腿的上楼梯双足机器人行走的复杂动力学。利用伸缩腿结构解决上楼的触碰台阶问题,采用沿支撑腿方向的脉冲推力提供动力源,运用拉格朗日方程和角动量守恒定律,建立上楼梯双足机器人行走的动力学模型。通过施加幅值限制和与支撑腿角速度相关的脉冲推力构造庞加莱映射。结合理论分析和数值模拟,研究系统的周期解及其分岔等复杂动力学,讨论脉冲参数及自身结构参数对双足机器人稳定行走的影响。研究结果表明:选择合适的参数,系统具有稳定的周期-1解,双足机器人能够稳定完成爬升楼梯的动作;相较于固定脉冲推力,幅值限制和与支撑腿角速度相关的脉冲推力有助于上楼梯双足机器人快速进入稳定的行走状态。

The complex walking dynamics of an ascending stairs biped robot with telescopic legs and pulse thrust is studied.The telescopic leg structure is used to solve the problem of touching steps and pulse thrust along the supporting leg is used to provide the power source.The dynamic model of biped robot walking up stairs is established by using Lagrange equation and angular momentum conservation law.Impulse thrust with velocity dependent and amplitude constraint is considered and a Poincarémap is constructed.By using theoretical analysis and numerical simulation,the complex dynamics,such as periodic solution and its bifurcation of the system,are studied,and the effects of pulse parameters and structural parameters on the stable walking of biped robot are discussed.The results show that when the appropriate parameters are selected,the system has a stable periodic-1 solution,and the biped robot can climb stairs stably.Compared with constant pulse thrust,impulse thrust with velocity dependent and amplitude constraint can help the stair climbing biped robot to quickly enter a stable walking state.