中文摘要：

研究了半被动双足机器人行走过程固定点的全局稳定性问题.使用罗盘机器人模型,在脚与地面冲击前,采用支撑腿的脉冲推力作为行走的动力源.通过引入一个限位器使两腿间的夹角在脚与地面冲击时保持为常数.采用庞加莱映射方法证明了半被动双足机器人行走固定点的存在性及其稳定性.分析了脉冲推力作用方向对双足机器人稳定行走的影响,并讨论了固定点存在的动力学附加条件.针对模型已知和未知2种情况,分别设计了行走控制律.理论分析和仿真结果表明,采用所提出的控制方法,半被动机器人可以在水平面上稳定行走,当脉冲推力作用方向与前腿垂直时控制效率最高.

英文摘要：

The global stability of the fixed point for the semi-passive walking of biped robot is studied.The compass-like biped robot is pow ered by applying an impulsive push along the stance leg just before the heel strikes.The inter-leg angle at heel-strike alw ays keeps constant by introducing a stopper.The existence and global stability of the fixed point for the semi-passive biped robot w alking are proved by using Poincaré mapping.The influence of the impulsive push direction on the w alking stability of the biped robot is analyzed,and the dynamical additional conditions for the existence of the fixed point are discussed.The w alking control law s are designed for the unknow n and know n models,respectively.The theoretical analysis and simulation results show that the semi-passive biped robot can w alk on the horizontal plane stably by using the proposed control methods.What is more,the control efficiency is highest w hen the direction of the impulsive push line is perpendicular to that of the foreleg.