哈尔滨工程大学学报2025，Vol.46Issue(2)：320-327,8.DOI:10.11990/jheu.202209026
台阶环境下被动行走机器人步态的阵发性与激变现象
Intermittency and crisis of gaits of a passive walking robot in a step environment
摘要
Abstract
Passive walking is important for biped robots to realize human-like gaits.However,existing studies mostly focus on the slope environment and rarely involve the common step environment,resulting in the limited ap-plicability of passive walking theory.In this study,a dynamic model of a passive walking robot with round-arc feet in a step environment is established,and the robot's gait dynamics are analyzed using numerical tools,such as a bifurcation diagram and Lyapunov exponents.A periodic window within the chaotic walking pattern is also identi-fied.Results reveal two routes to chaos,namely,the intermittency(type-I)route and the(interior)crisis route in the periodic window,both of which can lead to tremendous changes in the degree of gait chaos.Type-I intermitten-cy arises through a saddle-node bifurcation,whereas the interior crisis is caused by the collision between an unsta-ble periodic orbit and a"weak"chaotic attractor.These results extend the application of passive walking theory and help further understand chaotic gaits in passive walking robots.关键词
被动行走/双足机器人/步态动力学/分岔/混沌/李雅普诺夫指数/阵发性/激变Key words
passive walking/bipedal robot/gait dynamics/bifurcation/chaos/Lyapunov exponent/intermittency/crisis分类
信息技术与安全科学引用本文复制引用
高建设,高亦阳,赵佳毅,梁杰,饶晓波..台阶环境下被动行走机器人步态的阵发性与激变现象[J].哈尔滨工程大学学报,2025,46(2):320-327,8.基金项目
湖南省高新技术产业科技创新引领计划(2020SK2027). （2020SK2027）
