• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (13): 16-22.

• 论文 • 上一篇    下一篇

考虑接触滑移的被动行走器行走步态研究

张瑾;王天舒   

  1. 清华大学航天航空学院
  • 发布日期:2011-07-05

Research on Process of the Passive Walking with Bouncing and Slipping

ZHANG Jin;WANG Tianshu   

  1. School of Aerospace, Tsinghua University
  • Published:2011-07-05

摘要: 基于被动行走原理的被动行走器不同于主动控制行走器,它仅靠重力就能在下坡路面上呈现稳定的周期步态,其最大特点在于它的低能耗和自然步态。由于理论计算和试验的局限性,为了更直观地观察被动行走的行走步态,以及深入研究行走的足地接触过程,利用ADAMS建立带有圆弧足的直腿被动行走器三维模型。通过对被动行走器模型参数、接触参数以及初始条件的调整得到周期性稳定行走,并对周期性稳定行走给出极限环描述。同时,利用IMPACT接触模型得到了足地接触过程中的接触力、接触轨迹等信息,进一步对行走过程进行描述。当改变足地接触刚度与接触阻尼时,被动行走器出现了跳跃和周期性跳跃的现象;改变足地之间摩擦因数时,出现了滑动现象。通过对以上现象的研究,定性地分析足地接触参数对行走步态的影响。

关键词: 被动行走器, 步态, 滑动, 接触, 跳跃

Abstract: The passive dynamic walker is different from the active controlled robot, which walks down a slope only with gravity and forms the steady periodic gait. The passive walking features low energy consumption and natural gait. Because of the limitation of the theoretical calculation and experiment, a 3-D model of passive dynamic walker with straight legs and arc feet is built by using ADAMS in order to observe the passive walking gait and research contact process while walking. By adjusting the parameters of the model, contact parameters and initial condition, the periodic steady walking is achieved, which is described with limited cycles. With the IMPACT contact model in ADAMS, the information of reaction force and contact track are gotten. By changing the contact stiffness and damping coefficient, the phenomenon of bouncing and a periodic bouncing gait is observed. By changing the friction coefficient, the phenomenon of slipping is observed. Then the effect of contact parameters on the passive walking gait is analyzed by researching the above-mentioned phenomena.

Key words: Contact Bouncing, Gait, Passive walker, Slipping

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