非平整路面下被动行走机器人的步态动力学演化

doi:10.13229/j.cnki.jdxbgxb.20240020

摘要/Abstract

摘要：

为了探索非平整路面环境对被动行走机器人的步态演化影响，采用正弦函数模型刻画路面的凹凸特性，并通过引入随机变化的路面幅度和频率来模拟真实行走环境下道路的起伏状态。通过运用分岔图和李雅普诺夫指数等数值分析工具，对比不同路面不平度对机器人步态稳定性的影响，并深入探讨全局分岔中的边界激变事件引发的机器人跌倒行为。此外，搭建机器人样机并进行ADAMS动力学仿真，验证了模型的行走能力。研究表明，在正弦波形的非平整路面上，机器人的步态为拟周期运动，并随系统参数的改变经环面倍化分岔逐渐演变为混沌；而在随机非平整路面上，路面对机器人步态的激励效应导致其偏离极限环轨迹，系统的稳定性下降；在上述行走环境中，产生于鞍结分岔的不稳定轨道引发的双边界激变事件是步态吸引子最终消失的重要原因。

关键词: 机器人技术, 被动行走, 非平整路面, 分岔, 李雅普诺夫指数, 双边界激变

Abstract:

In order to study the excitation effect of gait displacement caused by rough terrain environment on passive walking robot， the sinusoidal function model is used to describe the concave and convex characteristics of the road surface， and the random variation of amplitude and frequency is introduced to simulate the unevenness in the real road environment. By using bifurcation diagram and Lyapunov exponent， the influence of road unevenness on the gait stability of robot is compared and analyzed， and the boundary crisis event in global bifurcation is deeply studied. In addition， a robot prototype is built and ADAMS walking simulation is performed to verify the walking capability of the model. It is shown that， on an uneven sinusoidal road surface， the robot's gait exhibits quasi-periodic motion and transitions into chaos with the change of system parameter， occurring via the torus multiplication bifurcation. The excitation effect of the robot gait caused by the rough terrain makes the robot deviate from the limit cycle trajectory， and this results in system degradation in terms of stability. In the walking environments above， the double boundary crisis event triggered by the unstable orbit generated by the saddle-node bifurcation is the main reason for the disappearance of the gait attractor.

Key words: robotics, passive walking, rough terrain, bifurcation, Lyapunov exponents, double boundary crisis

中图分类号:

TP242

高建设,暴雨萌,赵天,丁顺良,饶晓波. 非平整路面下被动行走机器人的步态动力学演化[J]. 吉林大学学报(工学版), 2025, 55(10): 3108-3118.

Jian-she GAO,Yu-meng BAO,Tian ZHAO,Shun-liang DING,Xiao-bo RAO. Evolution of gait dynamics of passive walking robot on rough terrain[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(10): 3108-3118.

图/表 17

图1

表1

机器人的结构参数"

参数符号	数值	单位
$a$	500	mm
$b$	500	mm
$m$	5	kg
$m H$	10	kg

表1

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