郑州大学学报（工学版）2025，Vol.46Issue(3)：1-10,10.DOI:10.13705/j.issn.1671-6833.2025.03.011
足地接触对被动行走机器人步态动力学行为的影响
Effects of Foot-ground Contact on the Dynamic Gait Behavior of Passive Walking Robot
摘要
Abstract
To address the issue of analyzing the complex dynamic behaviors of gait,such as slip and bounce,in passive walking robots,an arc-based bipedal passive walking robot model considering foot-ground contact was de-veloped,to analyze various walking modes exhibited with complex walking conditions with changes in ground sur-face materials.It could reveal the gait instability mechanisms with multi-parameter co-evolution.Firstly,the Hertz contact model and Coulomb friction model was introduced to describe the normal contact force and tangential friction force between the foot and the ground.The second kind of Lagrangian equation was used for dynamic modeling.Secondly,by changing contact parameters to simulate different walking surfaces,numerical simulations were em-ployed to study phenomena such as slipping,bouncing,and falling during walking,so as to obtaining foot-ground contact conditions that optimize the robot's walking performance.Finally,tools such as bifurcation diagrams and time response plots were used to analyze the walking gait of the robot during the co-evolution of various structural parameters.The research results indicated that reducing the friction coefficient and damping coefficient could cause slipping and bouncing in the gait,respectively,and continued reduction could cause the robot to fall.Among the structural parameters,reducing the hip joint mass and moment of inertia,and increasing the foot radius were more conducive to the robot adapting to a wide range of walking slope angles.Seemed that regardless of how the structur-al parameters evolved,the robot would experience gait instability due to slipping as the slope angle increased.关键词
被动行走机器人/滑移/弹起/动力学分析/数值模拟Key words
passive walking robot/slip/rebound/dynamics analysis/numerical simulation分类
计算机与自动化引用本文复制引用
高建设,郑子怡,宛磊,李奎,吴广良..足地接触对被动行走机器人步态动力学行为的影响[J].郑州大学学报（工学版）,2025,46(3):1-10,10.基金项目
河南省医学科技攻关计划省部共建重点项目(SBGJ202102201) （SBGJ202102201）
河南省重点研发专项(241111242800) （241111242800）
