桂林电子科技大学学报2026，Vol.46Issue(1)：27-32,6.DOI:10.16725/j.1673-808X.202491
双足机器人平地行走的周期步态
Periodic gait of the biped robot walking on flat ground
摘要
Abstract
To realize stable walking of the biped robot on flat ground,a nonlinear impulse thrust is applied at the heel of the support leg,while driving torques are applied at the hip and ankle joints,a walking dynamics model is established to analyze the periodic gait of the robot.The nonlinear differential equations in the continuous phase are linearised using a Taylor series,and the existence and stability conditions of the period-1 gait are obtained using the Poincaré map.The Flip bifurcation phenomenon of the periodic gait is further analyzed using the bifurcation theory.Simulation results show that the biped robot can walk stably on flat ground by adjusting the impulse thrust.关键词
双足机器人/脉冲推力/周期步态/稳定性/Flip分岔Key words
biped robot/impulse thrust/periodic gait/stability/Flip bifurcation分类
信息技术与安全科学引用本文复制引用
刘春梅,龙腾飞,江波,蒋贵荣..双足机器人平地行走的周期步态[J].桂林电子科技大学学报,2026,46(1):27-32,6.基金项目
国家自然科学基金(12271119) （12271119）
