仿人机器人跑步稳定性准则

？Ahumanoidrobothashighmobilitybutpossiblyrisksoftippingover.Untilnow,onemaintopiconhumanoidrobotsistostudythewalkingstability;theissueoftherunningstabilityhasrarelybeeninvestigated.Therunningisdifferentfromthewalking,andismoredifficulttomaintainitsdynamicstability.Theobjectiveofthispaperistostudythestabilitycriterionforhumanoidrunningbasedonthewholedynamics.First,thecycleandthedynamicsofrunningareanalyzed.Then,thestabilitycriterionofhumanoidrunningispresented.Finally,theeffectivenessoftheproposedstabilitycriterionisillustratedbyadynamicsimulationexampleusingadynamicanalysisanddesignsystem(DADS).