五连杆欠驱动平面双足机器人稳定行走步态设计

2022 6th International Conference on Green Technology and Sustainable Development (GTSD) Pub Date : 2022-07-29 DOI:10.1109/GTSD54989.2022.9989190

T. Nguyen

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引用次数: 0

摘要

行走步态是决定双足机器人是否是仿生机器人的第一个组成部分。基于零动力学与反馈控制相结合的研究，提出了稳定步行步态设计的简单方法。本研究采用的模型为单支撑点足、欠驱动1自由度的五连杆平面双足机器人。双支撑阶段发生在腿支撑交换时刻。仿真结果证明了周期行走运动在给定固定速度下的稳定性。

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Stable Walking Gait Design for 5-links Underactuated Planar Biped Robot

Walking gait is the first component that determines whether a biped robot is biomimetic or not. This study based on combination of Zero Dynamics and Feedback Control is to present the simple method of stable walking gait design. The model used in this study is 5-links planar biped robot with point feet and 1-DOF underactuated in single support phase. Double support phase is taken place at the moment of leg support exchange. The stability of periodic walking motion at a given fixed speed is proved by simulation results.

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2022 6th International Conference on Green Technology and Sustainable Development (GTSD)

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