七杆双足机器人行走系统动力学研究
Study on Walking System Dynamics of Seven Link Biped Robot

针对双足步行机器人结构复杂性、系统非线性和动态步态难控制的问题，以七杆双足步行机器人为研究对象，建立七杆双足步行机器人动力学数学模型，模型描述出机器人在动态步行中从欠驱动相到完全驱动相的切换及步行中产生的冲击碰撞问题，体现了动态步行的非光滑动力学特性。借助仿真平台对研究对象各关节运动参数进行分析，结果反映出机器人模型在完整的周期步行过程能够稳定行走及发生碰撞时各运动参数的变化，验证了参数化模型的正确性。
In this paper, the seven link biped robot was researched, in order to study the complicate structure, nonlinear dynamical system and dynamic gait problem that were difficult to control, the mathematical model was established and the walking stability was also simulated. Then, the model can depict dynamic walking from the under actuated phase to fully drive phase switch and the impact of collision problem in walking, and it reflected the non-smooth dynamic characteristics of dynamic walking. Through the simulation platform, the rationality of the control algorithm and the validity of the parameterized computer simulation model were verified, and each joint motion parameters were analyzed. The results reflected the walking robot model changes in the stably walk and each motion parameters in the collision in the complete cycle, and the correctness of the parametric model was verified