A Study On Gait Stability Of The 3D Quasi-passive Dynamic Walker With Narrow Foot

Quasi-passive Walker robot has become a topic field of humanoid robot due to its natural gait personification, efficiency, easy control etc. Since the end of nineteenth Century to now, many researchers have launched their own passive walker. These walking robot include 2D and 3D model, but all of these have very significant disadvantages. Passive walking robot has become a topic field of humanoid robot due to its natural gait personification, efficiency, easy control etc. Since the end of nineteenth Century to now, many researchers have launched their own passive walker. These walking robot include 2D and 3D model, but all of these have very significant disadvantages. In this thesis, we propose a new design about 3D Quasi-passive Dynamic Walker which have a narrow foot. The main work is as follows:1)Analysis the research of domestic and foreign about Quasi-passive Walker, summed up the shortcomings of 3D walking robot. Aiming at the disadvantages, propose a new design about 3D walking robot which have a narrow foot. We use Lagrange dynamics equation and the Newton collision equation to simulate the walker’s model. Considering about the high dimension of this system, we decompose our model into two sub-motion part which with two different vector planes and analysis separately.2)Many of the numerical methods used in the analysis process about these submotion, such as Poincare mapping, Newton iterative method, etc. Through these methods, analysis model of kinematic characteristics and the stability of two sub-motion. Then the change of controllable parameters and the influence on the motion characteristics of the model analysis of the change of the parameters. This is play a guiding significance to build the prototype.3)The motion characteristics of 3D Quasi-passive Dynamic Walker,we propose the PID control strategy which based on constant angle. The controller supplementary energy loss caused by slope angle difference, and make system back to the baseline data of period-1 gait cycle. The baseline data get from calculation when our model walks on the slopes. And the supplementary through a moto which increase the driving torque to supply energy for movement in the hip joints. Control moment by correction of the PID controller, a direct role in the hip to achieve closed-loop control.4)According to the analysis of modeling and motion characteristics, the use of simulation to obtain the parameters combined with modern processing technology to build a physical prototype. Use the physical prototype verify the implementation of the model. To construct the same physical environment and actual environment in the simulation software Admas, and the model validation angle based on PID control strategy.