Research on the Influence of Dynamic Parameters of a Passive Walking Robot with Arc Feet
The motion characteristics of passive walking robot mainly depend on the choice of dynamic parameters.In order to study the influence of parameter changes on the gait of the robot,a passive walking robot with arc feet is taken as the research ob-ject,the dynamic equation using Lagrange method is established and the numerical simulation is carried out.Based on bifurca-tion theory,the effects of arc foot radius,center of mass position,moment of inertia and slope angle on the stable gait of the robot are studied.The orthogonal perturbation vector method is used to solve the Lyapunov exponent of passive walking robot which is a non-smooth system and the bifurcation dynamics are verified.The results show that with the increase of center of mass position,moment of inertia and slope angle,period-doubling bifurcation occurs.When the arc foot radius increases in a certain range,the robot maintains a period-one gait,but when the foot radius increases excessively,the robot will become unstable.In addition,pa-rameter ranges of stable robot walking when arc foot radius and center of mass position change are analyzed in the two-parameter study,and it is found that the gait of the robot presents the phenomenon of inverse period-doubling bifurcation.The research re-sults provide important references for the optimal design and active control of biped walking robots in future.
Passive Walking Robot with Arc FeetDynamic ParametersBifurcation and ChaosLyapunov Expo-nent
万方数据
维普
