CAJ | 학술논문

在经典双足被动步行动力学模型的基础上，分析环境和力学参数影响下机器人被动步行的全局稳定性。计算不同模型参数下被动步行稳定不动点，采用胞胞映射计算得到不同模型参数下该动力学模型稳定单周期步态的吸引区域。研究发现双足被动步行的鲁棒性与其环境、力学参数关系密切，同时提出估计不动点吸引域形状的2个度量：最小半径与最大半径。实验结果给出被动步行稳定区域与斜坡倾角和质量比值的关系，同时通过分析某些偏离不动点较大的稳定吸引胞，以及吸引域的最小半径与最大半径的变化趋势，反映了双足被动步态的鲁棒性。
재경전쌍족피동보행동역학모형적기출상，분석배경화역학삼수영향하궤기인피동보행적전국은정성。계산불동모형삼수하피동보행은정불동점，채용포포영사계산득도불동모형삼수하해동역학모형은정단주기보태적흡인구역。연구발현쌍족피동보행적로봉성여기배경、역학삼수관계밀절，동시제출고계불동점흡인역형상적2개도량：최소반경여최대반경。실험결과급출피동보행은정구역여사파경각화질량비치적관계，동시통과분석모사편리불동점교대적은정흡인포，이급흡인역적최소반경여최대반경적변화추세，반영료쌍족피동보태적로봉성。
Based on the classical dynamic model of passive biped walking,the globel stability of passive bipeds walking which is influenced by the environment and mechical parameters is discussed. The calculaion about stable fix points on variable parameter is given. Cell-cell map is used to compute the attractive region of the 1-periodic steady gait of the walking model with variable parameters. It is found that the robustness of passive bipeds is connected closely to the environment and mechanical parameters. Moreover, this paper also proposes the two metrics to evaluate the shape of attractive region:minimum radius and maximum radius. Simulation results also reveal the relationship between the attractive region of passive walking and the parameters like ground slope or mass ratio. Simultaneously,the robusness of passive biped walking gaits is analyized by special attracive cell and the variable tendency with the maximum reach and the mininum reach of the attractive region.