Jixie chuandong (Dec 2022)
Research on Dynamic Parameters of a Passive Walking Robot with Flat Feet
Abstract
In order to study the influence of dynamic parameters on the gait of biped robots, a passive walking robot with flat feet is taken as the research object, the dynamic equation using Lagrange method and conservation of angular momentum is established and the numerical simulation is carried out. The gait of the flat-foot robot's periodic motion is explained with the help of a stable limit cycle. Based on the bifurcation theory, the effects of the sole, heel, center of mass position, mass ration, and inclined plane inclination on the stable gait of the flat-foot robot are analyzed. The point mapping is used to quickly track the dynamic behavior of the system in the two-dimensional parameter space. The results show that the energy loss of the flat-foot robot mainly occurs when the swinging leg collides with the inclined plane. With the change of the heel, center of mass position, and mass ratio, the gait of the flat-foot robot presents inverse doubling periodic bifurcation. It is found that the flat-foot robot is very sensitive to changes in the position of the heel and the center of mass. At the same time, through the combination of dynamic parameters of the flat-foot robot in maintaining a stable gait in the two-dimensional parameter space and the influence of different foot shapes on the global stability of the system, the importance of the foot shape on the stable walking of the biped robot is proved. The research results provide an important basis for the structural design and energy-saving control of the biped robot.
