中文摘要：

利用庞加莱映射将机器人周期轨道的分析转化为庞加莱截面上不动点的分析,通过修正的牛顿-拉夫森法,并结合模拟退火算法提供的初始值来进行数值求解,得出了给定初始状态条件下的基于SLIP模型的单腿跳跃机器人的被动动力学周期轨道.所得结果可为相应控制器设计提供参考.

英文摘要：

The Poincare mapping method is used to transform the analysis of the periodic orbit of robots into that of the fixed point on the poincaré section.With the joint application of the modified Newton-Raphson Method and the simulated annealing algorithm,the initial values of iteration are obtained.The passive dynamic periodic motion of a SLIP-modeling one-legged hopping robot is studied,and the periodic orbits can be quickly acquired under given conditions.The results obtained provide a reference for the corresponding controller design.