Kinetic Modeling And Simulation Of Passive Walking Model With Flexible Leg

Since humanoid robot fits people's living and work environment, it is future development trend. Meanwhile, as the most fundamental function of humanoid robot, walking has become the key basis of this research. At present, most humanoid robots adopt initiative-walking mode; they imitate human gait by accurately controlling articular AMP track, which caused high cost, heavy weight complexity and low efficiency. However, due to the advantages of simple structure, natural gait and low energy consumption of passive walking, it becomes the new path of breaking through this difficulty. At present, the basic models of passive walking mainly are simple passive walking model, Compass model and simplest upper body passive model, but they cannot be applied directly because of the friction with ground by feet. On the premise of not adding freedom degree, it overcame the problem of friction with ground by feet; meanwhile, this model has built-in passive upper body with simple and efficient drive. The major work is as follows:1. To design a passive walking model with flexible feet and solve the problem of friction with ground by feet of passive walking; infer the kinetic equation of this model by using Newton-Euler orthogonal method.2. By combing with Poincaré mapping method to raise new fixed point(balance point) search algorithm; look for the stable parameter of flexible passive walking model through this algorithm; summarize the gait characteristic of this model was by analyzing typical gait feature.3. Based on the analysis of sharp slope gait simulation of passive walking model with flexible leg and gait simulation of error initial value, conclude that this model is more stable compared with the passive walking model on traditional foundation.4. Through analyzing the various parameters of passive walking model with flexible leg, summarize the meaning of each parameter and their influence on gait of this model.5. Carry out virtual prototype simulation of passive walking model with flexible leg by using ADAMS software. The comparison of virtual prototype simulation and numerical simulation verified the correctness of the kinetics modeling and numerical simulation of this model.This thesis raised a new-type passive walking model with flexible leg; based on kinetic modeling, it analyzed the parameter of this model and feature of gait characteristic so as to provide theoretical guidance for the research and development of subsequent prototypes. On October 27, 2015, the walking device prototype designed based on passive walking model with flexible leg—“Xingzhe No.1” broke the world record of walking the longest distance single time kept by Ranger for many years, which better illustrated the value of passive walking model with flexible leg researched in this article.