Gait parameters analysis of biped walking robot based on flexible walking path

被引：0

作者：

Lu, Rongxin ^{[1
]}

Chen, Jianfang ^{[1
]}

Feng, Zhao ^{[1
]}

Xiao, Xiaohui ^{[1
]}

Xu, Jun ^{[1
]}

Wu, Yi ^{[1
]}

机构：

[1] College of Power and Mechanical Engineering, Wuhan University, Wuhan,430072, China

来源：

Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) | 2014年 / 45卷 / 10期

关键词：

A rigid-flexible coupling model between biped robot and its walking path was established to analyze the influence of path parameters on gait parameters. Firstly; with the method of gait planning based on natural ZMP trajectory; robot centric track was obtained by setting reference of ZMP trajectory; and then the gait on a rigid path was acquired by interpolation. Secondly; multilayer flexible model of road was established in ANSYS software based on Pasternak foundation model to be exported to ADAMS and coupled with the robot multi-rigid-body model; then the effect on mass trajectory; centric trajectory and driving torque of joint from flexibility data of ground were analyzed by simulating the robot walking in three groups of flexible surface and one ideal rigid surface. The results show that the height of mass center is more stable with fluctuation being less than 2.6%; moving distance along the forward direction is much closer to prospective walking distance and the walking efficiency on a flexible path is higher than that on a rigid path. Although the trend of driving torque is similar to that in a rigid path; its mutation peak in the joints on supporting leg is reduced by 8.3%-33.4%; and so the joint can move more steadily. Moreover; the fluctuation range of pelma contact force is 7.2%-16.7% more than that in the rigid path; and the impact from the ground upon the robot is reduced by 8.0%; which indicates that the biped robot is capable of walking most efficiently in natural ground environment. ©; 2014; Central South University of Technology. All right reserved;

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页码：3443 / 3449

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