Research On The Moveemnt Characters And Dynamic Balance Control Methods Of One-legged Hopping Robot

One-legged hopping robot is the basis of bio-robots and it imitates the self-balance hopping circle of animals. Considering its special structure and mass properties, to study the dynamics characteristics of the one-legged hopping robot and the control algorithm of dynamic balance in stance phase has great meaning to the improvement of the control strategy and bionic theory about robots.The robot’s locomotion takes place in three dimensions, thus we build the kinematics model in order to find the relationship between manipulated variable and the machine’s orientation parameters. While at first glance, the running of an animal appears to be a planar activity, we simplify the machines’ motions in three dimensions and discuss its movement on a vertical plane. Then we divide every hopping circle into flying phase and stance phase and analyze the machine’s movement in detail. While servoing the body an upright posture during stance, the equations of motion are derived by Lagrangian dynamics and coordinate change formulas. Then we determine the main reasons of tumbling and sum up the application conditions of the controlling strategy that generally used abroad. The change of the body attitude and conditions of motion stability in planer hopping are summarized after observing the hopping circle of kangaroos. Then the body posture adjustment method and movement control method that accords with the conditions of motion stability is proposed on the basis of the dynamic models. Finally we summarized the constrain in controlling the body attitude and the movement stability theory in stance phase is studied by simulation.The equations about kinematics and inverse kinematics is solved by building Matlab/Simulink models and numerical solutions is verified by testing parameters of the robot’s 3D models in Solidworks. In addition, the equations about dynamics are also solved by using the Matlab/Simulink toolbox. The solution of Lagrangian dynamics is consistenced with Pro. Raibert’s symmetry theory. Completing the simulation of the control method of body attitude and the affections of movement stability, we get the curves of body attitude that accords with the conditions of motion stability. After studying the simulations of movement control method we finally come out some rules about hopping stably in plane.