Journal of Guangxi Normal University(Natural Science Edition) ›› 2022, Vol. 40 ›› Issue (6): 131-144.doi: 10.16088/j.issn.1001-6600.2021101201

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Modeling and Dynamics Analysis of an Ascending Stairs Biped Robot Under Impulse Thrust

CHEN Jiarui, LING Lin, JIANG Guirong*   

  1. School of Mathematics and Computational Science, Guilin University of Electronic Technology, Guilin Guangxi 541004, China
  • Received:2021-10-12 Revised:2022-01-11 Online:2022-11-25 Published:2023-01-17

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Abstract: The complex walking dynamics of an ascending stairs biped robot with telescopic legs and pulse thrust is studied. The telescopic leg structure is used to solve the problem of touching steps and pulse thrust along the supporting leg is used to provide the power source. The dynamic model of biped robot walking up stairs is established by using Lagrange equation and angular momentum conservation law. Impulse thrust with velocity dependent and amplitude constraint is considered and a Poincaré map is constructed. By using theoretical analysis and numerical simulation, the complex dynamics, such as periodic solution and its bifurcation of the system, are studied, and the effects of pulse parameters and structural parameters on the stable walking of biped robot are discussed. The results show that when the appropriate parameters are selected, the system has a stable periodic-1 solution, and the biped robot can climb stairs stably. Compared with constant pulse thrust, impulse thrust with velocity dependent and amplitude constraint can help the stair climbing biped robot to quickly enter a stable walking state.

Key words: biped robot, ascending stair, impulse thrust, fixed point, bifurcation

CLC Number: 

  • TP242.6
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