广西师范大学学报（自然科学版）2024，Vol.42Issue(2)：131-139,9.DOI:10.16088/j.issn.1001-6600.2023050802
上斜坡双足机器人行走的稳定性分析
Stability Analysis of a Bipedal Robot Walking up a Slope
摘要
Abstract
In order to study the stability of the walking periodic gait of a bipedal robot on an upper slope,a walking impulse hybrid system is established by using the Lagrangian method,and the existence and stability conditions of the periodic gait are obtained by constructing a Poincaré mapping and analyzing the fixed points of the mapping.The results show that under the condition that the slope angle is 0.1 rad,when an appropriate parameter is selected in the linear pulse thrust,there is a stable period-1 gait of the biped robot walking on the slope,and the different values of constant term of pulse thrustproduce different types of period-1 gait,and the period-1 gait with different motion states is produced when the walking system state parameters are changed.关键词
双足机器人/脉冲推力/脉冲混杂系统/庞加莱映射/周期步态Key words
bipedal robot/impulse thrust/impulse hybrid system/Poincare mapping/periodic gait分类
信息技术与安全科学引用本文复制引用
仝丽妍,蒋贵荣,江波,龙腾飞..上斜坡双足机器人行走的稳定性分析[J].广西师范大学学报（自然科学版）,2024,42(2):131-139,9.基金项目
国家自然科学基金(12271119) （12271119）
