[1]高建设,郑子怡,宛　磊,等.足地接触对被动行走机器人步态动力学行为的影响[J].郑州大学学报(工学版),2025,46(03):1-10.[doi:10.13705/j.issn.1671-6833.2025.03.011]
　GAO Jianshe,ZHENG Ziyi,WAN Lei,et al.Effects of Foot-ground Contact on the Dynamic Gait Behavior of Passive Walking Robot[J].Journal of Zhengzhou University (Engineering Science),2025,46(03):1-10.[doi:10.13705/j.issn.1671-6833.2025.03.011]
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足地接触对被动行走机器人步态动力学行为的影响()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
46
期数:
2025年03期
页码:
1-10
栏目:
出版日期:
2025-05-13

文章信息/Info

Title:
Effects of Foot-ground Contact on the Dynamic Gait Behavior of Passive Walking Robot
文章编号:
1671-6833(2025)03-0001-10
作者:
高建设1;  郑子怡1;  宛　磊2;  李　奎2;  吴广良2
1.郑州大学 机械与动力工程学院,河南 郑州 450001;2.漯河医学高等专科学校第二附属医院,河南 漯河 462000
Author(s):
GAO Jianshe1;  ZHENG Ziyi1;  WAN Lei2;  LI Kui2;  WU Guangliang2
1.School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, China; 2.The Second Affiliated Hospital of Luohe Medical College, Luohe 462000, China
关键词:
被动行走机器人;  滑移;  弹起;  动力学分析;  数值模拟
Keywords:
passive walking robot;  slip;  rebound;  dynamics analysis;  numerical simulation
分类号:
TP242
DOI:
10.13705/j.issn.1671-6833.2025.03.011
文献标志码:
A
摘要:
为解决被动行走机器人步态研究中难以分析滑移、弹起等复杂步态的动力学行为的问题,搭建了一种考虑足地接触的圆弧足被动行走机器人模型,分析其在路面材料变化的复杂行走路况下表现出的多种行走模式,并揭示了多参数协同演化下的步态失稳机制。首先,引入赫兹接触模型与库仑摩擦模型描述足地间的法向接触力与切向摩擦力,使用第二类拉格朗日方程进行动力学建模;其次,通过改变接触参数模拟不同弹性与摩擦特性的行走路面,采用数值仿真对行走中的滑移、弹起、跌倒等现象进行研究,获得使机器人行走性能较好的足地接触条件;最后,使用分岔图、时间响应图等工具对机器人各结构参数协同演化时的行走步态进行分析。研究结果表明:摩擦系数大于0.24且阻尼系数大于4.37×106 kg/(m1.5·s)的足地接触环境是机器人稳定行走的必要条件,摩擦系数和阻尼系数的减小将分别使步态出现滑移和弹起,且摩擦系数对步态的影响占主导地位,两接触参数持续减小将使机器人摔倒;在结构参数中,髋关节质量及转动惯量的减小、足半径增大都更有利于机器人适应大范围的行走斜面角度;同时观察到,无论结构参数如何演化,机器人都将随着斜面角度的增大通过滑移而引发步态失稳。
Abstract:
To address the issue of analyzing the complex dynamic behaviors of gait, such as slip and bounce, in passive walking robots, an arc-based bipedal passive walking robot model considering foot-ground contact was developed, to analyze various walking modes exhibited with complex walking conditions with changes in ground surface materials. It could reveal the gait instability mechanisms with multi-parameter co-evolution. Firstly, the Hertz contact model and Coulomb friction model was introduced to describe the normal contact force and tangential friction force between the foot and the ground. The second kind of Lagrangian equation was used for dynamic modeling. Secondly, by changing contact parameters to simulate different walking surfaces, numerical simulations were employed to study phenomena such as slipping, bouncing, and falling during walking, so as to obtaining foot-ground contact conditions that optimize the robot′s walking performance. Finally, tools such as bifurcation diagrams and time response plots were used to analyze the walking gait of the robot during the co-evolution of various structural parameters. The research results indicated that reducing the friction coefficient and damping coefficient could cause slipping and bouncing in the gait, respectively, and continued reduction could cause the robot to fall. Among the structural parameters, reducing the hip joint mass and moment of inertia, and increasing the foot radius were more conducive to the robot adapting to a wide range of walking slope angles. Seemed that regardless of how the structural parameters evolved, the robot would experience gait instability due to slipping as the slope angle increased.

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更新日期/Last Update: 2025-05-22