Gait Properties of Passive Walking Robots with Bionic Torso
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摘要:
为改善被动行走机器人的步态特性，受人体躯干同时具有刚性骨骼和柔性软组织启发，提出一种带刚柔仿生躯干的被动行走机器人模型，并研究其非线性动力学特性. 将仿生躯干柔性部分等效为带质量的弹簧阻尼器，建立仿生躯干被动行走机器人的动力学模型. 分别分析仿生躯干的等效弹性系数、等效阻尼系数、等效质量对被动行走机器人的行走步长和步行速度的影响规律，并与刚性躯干模型的结果进行对比. 研究结果表明：相比于刚体躯干，仿生躯干使得被动行走具有更加丰富的步态行为；仿生躯干柔性不仅影响被动行走的行走步长及行走速度，还影响被动行走的稳定性；适当的躯干柔性可以在维持稳定周期步态的同时，提高被动行走机器人的行走步长及步行速度；与刚性躯干相比，带仿生躯干的被动行走步长能提高12%，行走速度能提高2%.
Abstract:Inspired by the fact that a human torso has both rigid skeletons and flexible internal organs, a passive walking robot model with a rigid and flexible bionic torso was proposed to improve the gait property of the robot, and the nonlinear dynamic properties of the robot were studied. First, the dynamic equations of the passive walking robot with a bionic torso were established by considering the flexible part of the torso as a mass-spring-dashpot system. Then, the effects of the equivalent elasticity coefficient, damping coefficient, and mass of the bionic torso on walking step length and walking speed of the robot were investigated respectively. The results show that compared with the rigid torso, the bionic torso enables a more abundant gait behavior for a passive walking robot. The flexibility of the bionic torso affects the walking step length, walking speed, and walking stability of a passive walking robot. With appropriate torso flexibility, the walking step length and walking speed of the robot can be improved while the stable periodic gait remains. Compared with the rigid torso, the walking step length and walking speed of the robot with a bionic torso can be increased by 12% and 2%, respectively.
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Key words:
- walking robot /
- passive walking /
- torso /
- flexibility /
- gait properties
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图 1 带有仿生躯干的被动行走机器人三维模型
Figure 1. 3D model of passive walking robot with a bionic torso
图 3 带有仿生躯干的被动行走机器人广义坐标
Figure 3. Generalized coordinates of passive walking robot with a bionic torso
图 5 等效弹性系数k与机器人步态的关系
Figure 5. Relationship between equivalent elasticity coefficient k and robot gait
图 6 等效阻尼系数c与机器人步态的关系
Figure 6. Relationship between equivalent damping coefficient c and robot gait
表 1 刚性躯干机器人仿真参数及其取值
Table 1. Simulation parameters and values for rigid torso robot
参数 m
/kgmh
/kgLmh
/mLh
/ma，b
/mg/（m·s−2） ϕ/rad 取值 5.0 3.5 0.25 0.5 0.5 9.81 0.04 
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表 2 k=1 600 N/m与k=1800 N/m时平均步长与步行周期的变化
Table 2. Change of average step length and walking period when k=1 600 N/m and k=1800 N/m
k /（N·m−1） ΔL T 数值/m 增幅/% 数值/s 增幅/% 1600 0.5396 7 0.8735 6 1800 0.5252 4 0.8740 6
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表 3 mh=2 kg的行走步长与步行速度（k=100 N/m, c=2 N·s/m, mw=1.0 kg）
Table 3. Walking step length and walking speed when mh=2 kg （k=100 N/m, c=2 N·s/m, mw=1.0 kg）
躯干类型 ΔL/m v/（m·s−1） 刚性躯干 0.4453 0.6135 仿生躯干 0.4984 0.6238 增幅/% 12 2
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表 4 mh =3 kg的行走步长与步行速度 （k=100 N/m, c=2 N·s/m, mw =1.2 kg）
Table 4. Walking step length and walking speed when mh=3 kg （k=100 N/m, c=2 N·s/m, mw =1.2 kg）
躯干类型 ΔL/m v/（m·s−1） 刚性躯干 0.4871 0.6130 仿生躯干 0.5375 0.6225 增幅/% 10 2
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表 5 mh =4 kg的行走步长与步行速度（k=380 N/m, c=2 N·s/m, mw=1.2 kg）
Table 5. Walking step length and walking speed when mh=4 kg （k=380 N/m, c=2 N·s/m, mw=1.2 kg）
躯干类型 ΔL/m v/（m·s−1） 刚性躯干 0.5189 0.6110 仿生躯干 0.5600 0.6185 增幅/% 8 1
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