针对半被动双足步行机器人所采用的控制方法大多较为复杂,并且缺乏控制参数对机器人性能影响的定量分析,从人类步行的生物力学研究得到启发,提出一种半被动双足步行机器人的控制方法,并定量分析该控制方法各参数对机器人性能的影响.在机器人摆动腿与地发生碰撞后开始于髋关节处施加方波力矩,作为动力输入.采用步态敏感范数衡量机器人的稳定性,采用无量纲步行能耗衡量机器人的步行效率.以稳定性、效率和步行速度作为机器人性能评价指标,通过仿真得到力矩、力矩作用时间和斜坡角度3个参数对机器人性能的影响.由于力矩在1个步行周期中没有做负功,该机器人具有与人类步行相似的高能量效率.该机器人能够实现沿上坡、下坡和平地步行.%Since the present control methods for quasi-passive dynamic walkers are complex, and few quantitative study of the control parameters on the performance of quasi-passive dynamic walkers has been done, inspired by biomechanics in human walking, a control method for the quasi-passive dynamic walker and quantitative control parameters on the performance of the quasi-passive dynamic walker were studied. After the impact between swing leg and ground, a torque of square wave was applied at the hip as power supply. The gait sensitivity norm was used to quantify the stability, and the dimensionless cost of transport was used to quantify the walking efficiency. Stability, efficiency and velocity were used as three performance criteria. The effects of the amplitude of torque, the application time of torque and slope angle on the performance criteria were obtained by simulations. Since the torque does not do negative work during the whole walking period, the walker has a high efficiency as human walking. The robot can walk up a slope, walk down a slope and walk on flat ground.
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