Stability Analysis of a Bipedal Robot Walking up a Slope
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.
国家科技期刊平台
NSTL
万方数据
维普
