Journal of Guangxi Normal University(Natural Science Edition) ›› 2024, Vol. 42 ›› Issue (2): 131-139.doi: 10.16088/j.issn.1001-6600.2023050802

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Stability Analysis of a Bipedal Robot Walking up a Slope

TONG Liyan1, JIANG Guirong1*, JIANG Bo2, LONG Tengfei2   

  1. 1. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin Guangxi 541004, China;
    2. School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin Guangxi 541004, China
  • Received:2023-05-08 Revised:2023-06-29 Published:2024-04-22

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Abstract: In order to study the stability of the walking periodic gait of a bipedal robot on an upper slope, a walking impulse hybrid system is established by using the Lagrangian method, and the existence and stability conditions of the periodic gait are obtained by constructing a Poincaré mapping and analyzing the fixed points of the mapping. The results show that under the condition that the slope angle is 0.1 rad, when an appropriate parameter is selected in the linear pulse thrust, there is a stable period -1 gait of the biped robot walking on the slope, and the different values of constant term of pulse thrustproduce different types of period -1 gait, and the period -1 gait with different motion states is produced when the walking system state parameters are changed.

Key words: bipedal robot, impulse thrust, impulse hybrid system, Poincaré mapping, periodic gait

CLC Number:  TP242.6
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