Research On The Gaits Property And Walking Stability Of Passive Walking Robot With Arms Swing

Passive walking robot has some adevantages,such as low power consumption,natural gait and simple structure.Thses adevantages make it a popular research target of walking robots.But few research on passive walking robot takes the arm swing into account even that is the case,the model is too simple to match the humanbeing walking,which has become a perfect system with the evolution for a long time.The purpose of this thesis is to establish a more exact model to imitate humanbeing walking,and analyze the gait and stability.In This thesis,the motion of arm swing is transformed into the motion of a spring-damping system with three additional parameters: the equivalent stiffness of spring,the equivalent damping and the equivalent angle of swing.The dynamics model is established,the edge of chaos of gait is determined,and the influence of swing arm parameters on gait and stability is analyzed.The main research work and conclusions are as follows:1.A new model of passive walking robot with arms is proposed.And Routh Equation is employed to establise the dynamic model of the model.2.With the results of simulation of the dynamics model,the edge of chaos of gait for one parameter and three parameters are determined respectively.The results show that there is a relationship between robots' chaotic gait and swing arm parameters.From the edge of chaos for single parameter,it can be seen that the gait of passive walking robot is chaotic when the spring's stiffness is large,or the damping coefficient is small,or the angle of the swing arm is small.From the edge of chaos for three parameters,it can be seen that there is few combination of parameter to chaotify the gait when arm angle is large enough.3.The effects of different parameters such as the equivalent spring stiffness,the equivalent damping coefficient and the arm angle on the single period gait,the step length,the walking cycle and the average walking speed of the robot are studied by simulation.The combinations of parameters for fast average walking speed are found.The results show that the gait characteristics of robots will change dramatically with the change of parameters.4.The Floquet multiplier method is used to study the influence of the swinging arm parameters on the stability of the robot,and the combination of parameters forhigh stability is figured out.