Symmetrical rimless wheel model motion behavior adjusting method based on motion stopping attraction domain

Abstract

The invention provides a symmetrical rimless wheel model motion behavior adjusting method based on a motion stopping attraction domain. The method comprises the steps: constructing and describing theinitial state of a symmetrical rimless wheel model based on the initial kinetic energy and slope inclination angle of the symmetrical rimless wheel model, creating a state coordinate system, and enabling an interval formed by the state coordinate system to be an attraction domain region; classifying the final stable state attraction domain according to the model parameters, and constructing and obtaining a corresponding attraction domain area in the state coordinate system; calculating boundaries among a plurality of different attraction domain areas; according to the initial state and the attraction domain area, jointly calculating a final stable state of the symmetrical sideless wheel model; and enabling the final stable state to meet the expectation by adjusting model parameters. According to the method, a complete adjustment method capable of realizing expected motion characteristics is constructed based on calculation and analysis of a stop motion attraction domain of the symmetrical rimless wheel model, and a practical scheme is provided for guiding biped walking simulation research of a real robot by using the rimless wheel model.

Description

technical field [0001] The invention relates to the technical field of passive robot motion, in particular to a motion feature of a symmetrical boundless wheel model based on a stop motion attraction domain and a motion behavior adjustment method thereof. Background technique [0002] The continuous progress of footed bionic robot technology is rapidly promoting the transformation of robot technology. The stronger driving ability and dynamic control level provide theoretical and engineering technology traction for this, while the classic passive walking theory improves the internal stability of the motion mechanism. And exercise energy efficiency provides another approach. As the basic principle model of biped passive walking, the passive infinite wheel mechanism can realize the intermittent collision contact between the end of its own spokes and the slope of the terrain without relying on the internal power source, so as to imitate the plantar rhythm of the foot-like stable...

AI Technical Summary

Problems solved by technology

However, the existing research mainly focuses on the motion characteristics of the symmetrical infinite wheel model, and seldom involves active motion planning and adjustment of the symmetrical infinite wheel model, which makes it difficult to directly apply the motion laws obtained in the research to humanoid walking control.

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