CAJ | 학술논문

为了反映腿部多段串联的多参数耦合特性，以 SLIP（spring loaded inverted pendulum）模型为基础，建立了小腿含有串联线性伸缩弹簧的机器人柔性双段腿动力学模型。通过仿真分析其运动，获得柔性双段腿弹簧刚度、触地角度、虚拟腿长、膝关节角度、质量分布等参数的稳定域。通过对各个参数稳定域进行归一化处理和曲线拟合，获得参数稳定域变化曲线及参数敏感度排序。最后基于 ADAMS 与 MATLAB 联合仿真验证了柔性双段腿模型中参数敏感度排序的正确性。
위료반영퇴부다단천련적다삼수우합특성，이 SLIP（spring loaded inverted pendulum）모형위기출，건립료소퇴함유천련선성신축탄황적궤기인유성쌍단퇴동역학모형。통과방진분석기운동，획득유성쌍단퇴탄황강도、촉지각도、허의퇴장、슬관절각도、질량분포등삼수적은정역。통과대각개삼수은정역진행귀일화처리화곡선의합，획득삼수은정역변화곡선급삼수민감도배서。최후기우 ADAMS 여 MATLAB 연합방진험증료유성쌍단퇴모형중삼수민감도배서적정학성。
In order to reflect the multi-parameter coupling characteristics of serials leg structure,the dynamical model of a compli-ant two-segment leg containing serials elastic component in its lower leg is built based on SLIP,and analysis of locomotion is car-ried out by simulation.Via the simulation,the region of stable running for parameters,like spring stiffness,touch down angle, virtual leg length,knee angle,total mass,are determined.Normalization and curve fitting of parameter regions help to get each parameter’s variation tendency and parameter sensitivity order.Finally,co-simulation with ADAMS and MATLAB proves that the parameter sensitivity analysis is right.