| The study on biped robot have gained an increasing interest in the field of robotics research, during the past twenty years, some universities as well as some distinguished laboratories in the world have paid more attention to the research of this field and have finished some well-known workable models machine, in addition these typical models have great impact on the society and have changed our lives in some field greatly. Also the study on the passive gait biped has attracted so many researchers and it has gradually become the focus of the advanced robotics research.The main idea of the passive dynamics is: to begin with, propose some appropriate passive gait biped model, then establish the corresponding mathematical descriptions of this walking model, in spite of this, to give the analysis of the dynamical property and walking characteristics, and also the arithmetic control strategies to reveal the internal theory of human's high speed and the high efficiency gait biped walking.The focus of the work are a hybrid model for a passive walker with knees in lateral plane presented with numerical simulation and the the research on horizonal center of mass control of the Compass-like and the kneed biped robot, which can attain to the goal of keeping stable control of the robot. Then, A general simulation software with an opening structure is designed for the passive dynamic walker. A hybrid dynamic model of the passive walker with knees and ankles is derived and solved by numerical simulation. The 3D walking gaits of the biped locomotion are reconstructed. The main content will be introduced as follows:(1) It is well-known that a suitably designed un-powered mechanical biped robot can "walk" down an inclined plane with a steady gait. The focus of the work is a hybrid model for a passive walker with knees presented with numerical simulation. The dynamics and its characteristics of the biped locomotion were analyzed. All the research above have the positive meaning for bridging the gap between existing theoretical models and developing prototype machine. Finally, the 3-d hybrid model for a passive walker with knees was presented and given a simple description.(2) In addition to the fore-aft motions, in three dimensions also sideways motions and rotations around the vertical are possible. A prototype of the proposed elastic foot is designed imitating the The robot model and the dynamic equations of motion in lateral plane are derived and solved by numerical simulation. All the research above have the positive meaning for bridging the gap between existing models in sagittal plane. The stability of the passive walker is increased.(3) An approach so called "horizonal center of mass control" is presented, which can make the Compass-like and the kneed biped robots attain to the goal of keeping stable control. The principal gait generation mechanisms of passive dynamic walking from the point of view of the system's mechanical energy is reconsided, and a partial differential equation that characterizes the principle mechanisms between the system's energy change and its center of mass is derived. The gait generation problem as a solution of an indeterminate equation related to the partial differential equation. In addition, a robust control law using a reference energy trajectory is proposed and the control system's stability is investigated. The validity of the proposed method is investigated through numerical simulations.(4) A general simulation software with an opening structure is developed for the passive dynamic walker. A hybrid dynamic model of the passive walker with knees and ankles is derived and solved by numerical simulation. The walking gaits of the biped locomotion are reconstructed using the proposed attitude reconstruction algorithm. The Bidirectional communication is integrated via peripheral interfaces of industrial computer. The GUI of the software and the 3D animation display of walking process are implemented by Visual C++ and OpenGL. All the above researches are much helpful to the simulation, gait analyses and controller design of biped robot, as well as its further experimental studies.In conclusion, This paper mainly discuss the modeling of a hybrid model for a passive walker with knees in lateral plane, dynamical analysis, the method of "horizonal center of mass control" and the development of a general simulation software. There are many unsolved problem will futher investigation. Such as the 3D passive based dynamical modeling and theoretical analysis, the perfect of the method of" horizonal center of mass control" and the perfect of the general simulation software. |
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