Real-time Simulation System Development And Motion Characteristics Analysis Of Bipedal Passive Dynamic Walking Robot

In recent years, bipedal passive dynamic walking robots have caught a lot of scholars’eyes, while simulation technology is one of the most important parts in the field of robotresearch, with the continuous development of this field; the robot simulation plays a vitalrole in robot design as a reliable and convenient tool.The researches in this paper were supported by The National Natural Science Funds(60974067）, focusing on the developing of the bipedal passive dynamic walking robotsimulation system and the study on control methods which keep the robots walk steadily in2-D plane and3-D space. As follows:[1] The control strategy of a robot is closely related to the parameters of its model,parameters of both the model and the environment should be modified correspondinglywhen experiments are carried on; it will hardly meet demands to use a single robot modeland a fixed posture. With the virtual prototyping developed in this paper, the program willrebuild the whole virtual prototyping model when users only change the related parametersof the model at the interface.[2] The walking process of a bipedal passive dynamic walking robot can be describedas a typical hybrid system which is consisted of continuous swing stages and discretecollision stages. Based on the theory of the finite state machine, the walking circle of thebipedal robot is divided into four statuses in this paper, according to which an adaptiveexcitation control method is designed, and the debugging in the simulation platform provesthe passive dynamic walking theory and the effectiveness of my control method.[3] In order to expand the study of bipedal passive dynamic walking robot into3-D, arobot structure with the lateral movable upper body was proposed: To keep the dynamicequilibrium of the lateral, control the lateral swing caused by the movable upper body,balance the lateral torque produced by the original body when a robot is walking, and theflexible feet mode was taken to stabilize the system. We apply strategies respectively tocontrol the forward walking and the lateral swing, and keep the two movements in the samecircle. We verify the model and the control method in the simulation platform, and analyzethe motivation characteristics at the same time; all of this contributes to the prototypedesign of the bipedal passive dynamic walking robots and the research on3-D controlmethod.In summary, the developing of the bipedal passive dynamic walking robot simulationsystem and a series of the researches on robot walking in2-D plane and3-D space has positive and significant meanings.