【摘要】 为了研究两足步行过程中步态稳定性及步行能耗的问题,通过对人脚结构的分析提出了一种新型的步行模式——两点式步行模式,并建立了基于此模式的直腿无膝倒立摆动力学模型.运用Poincare映射法,提出了一种数值算法,计算了该直腿无膝模型的不动点及吸引盆;研究了模型特性参数λ、步长对吸引盆特性及步行能耗的影响.系数λ增大会使吸引盆面积减小,收敛到不动点的速度变快,快速收敛到不动点的初始条件比例变大.步长增大会使吸引盆面积增大,模型在步行过程中单位距离消耗的能量增加.结果表明,λ为0.55和步长为0.50的参数组合更有利于对机器人系统的控制.更多还原

【Abstract】 A new walking pattern denoted as two-point-foot walking pattern is proposed according to the foot structure of human being.The equations of a planar straight leg-inverted pendulum based on this pattern are derived to study the stability of gait and the energy consumption in biped walking.A new kind of numerical algorithm is put forward according to Poincare mapping.The fixed points and the basin of attraction of this model are obtained by the numerical method.The effects of λ and step variation on the basin of attraction and energy consumption are discussed for the biped walking.The area of basin of attraction decreases with the increase of coefficient λ;meanwhile,the speed converging to the fixed point accelerates;the ratio of initial conditions which can converge to the fixed point quickly increases.On the other hand,the area of basin of attraction increases with the step length;so that more energy would be consumed for unit distance of the model’s walk.A parameters combination that λ is 0.55 and step is 0.50 is of advantage for the control of robot.更多还原