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中文摘要：
建立了以踝关节脉冲推力为动力源的平面半被动双足机器人模型，并推荐利用拉格朗日第二类方程得到机器人的动力学方程。为判断模型的稳定性，采用庞加莱映射方法分析了半被动双足机器人行走的固定点及其稳定性，并讨论了模型稳定行走的动力学附加条件。分析了模型中各机械参数对模型稳定性的影响。最后，在脉冲推力作用时添加扰动模型仍能稳定行走，证明模型对脉冲干扰具有鲁棒性。
英文摘要：
A model of planar biped semi-passive dynamic walking robot is constructed by using impulsive push as power source on ankle, and the dynamic equations are derived with Euler-Lagrange Equation. In order to determine the stability of the model, the fixed point and its global stability of semi- passive biped robot walking are analyzed based on Poincare map. The dynamic additional conditions for the stability are discussed. The effect of mechanical parameters on the stability is analyzed. Finally, the semi-passive biped robot powered by an impulsive push can keep walking stably, which proves that the model is robust to various disturbances.
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