Walking stability of passive walking robot based on upper body model

Abstract：For the high sensitivity of the walking stability of a passive walking robot to its own parameters,a homogeneous compass gait model with upper body was established to analyze the effect of both mass and height of upper body on the walking stability of robot,and the optimum configuration for the structural parameters of robot was obtained.A dynamic model for the passive walking of robot was established with the Lagrange method and angular momentum conservation principle.Based on the accurate description in the gait convergence interval of the model and the external disturbances and through combining the global stability analysis with the local one,the optimum configuration of original parameterthe was carried out for the model,and then the Proe prototype model was established.With analyzing the self-regulation change of gait for different prototype models under single or continuous external disturbances,the optimum configuration of paramters for the model was finally attained,and the reasonability analysis was performed.The results of disturbance experiments for different prototypes indicate that the introduction of upper body can increase the gait convergence interval,and only reasonable parameter configuration of upper body can enhance the stabiliy and robustness of the robot obviously.