Passive dynamic walking of a biped robot with torso and its stabilizer
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摘要: 采用Matlab仿真的方式構建了一個簡單的有軀干雙足機器人模型,研究了該模型在斜坡上的被動行走,分析了模型步行的穩定性,并設計了一個全狀態線性反饋步行穩定器.研究結果表明:無任何驅動器的有軀干雙足機器人能夠實現沿斜坡而下的被動行走,其步行方式有兩種,但均不穩定;設計的全狀態反饋穩定器能夠較好地穩定模型的被動行走.Abstract: A simulation model of a biped robot with torso was established using Matlab, the passive dynamic walking of this model was studied, the stability of the walking was analyzed, and a full-state linear feedback walking stabilizer was designed. Simulation results show that the model can walk down a slope without any actuator and there are two unstable walking gaits on the same slope. The results also indicate that the model can realize stable walking by adopting the full-state feedback stabilizer.
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Key words:
- biped robots /
- passive dynamic walking /
- stability /
- stabilizers
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