Walking dynamics for an ascending stair biped robot with telescopic legs and impulse thrust

Jiarui Chen; Aimin Tang; Guanfeng Zhou; Ling Lin; Guirong Jiang; Jiarui Chen; Aimin Tang; Guanfeng Zhou; Ling Lin; Guirong Jiang

doi:10.3934/era.2022208

Electronic Research Archive

2022, Volume 30, Issue 11: 4108-4135. doi: 10.3934/era.2022208

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Research article

Walking dynamics for an ascending stair biped robot with telescopic legs and impulse thrust

1.
School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, China
2.
Library, Guilin University of Electronic Technology, Guilin 541004, China
3.
School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, China

Received: 27 June 2022 Revised: 16 August 2022 Accepted: 29 August 2022 Published: 19 September 2022

In this study, an ascending stair biped robot model with impulse thrust is presented. The biped robot contains a hip joint and two legs with massless telescoping actuator. Impulse thrust is applied at the ankle joint of robot's stance leg to simulate the forward push-off of the ankle during human walking. The nonlinear ascending stair biped model is linearized and a discrete map is obtained. The conditions for the existence and stability of period-1 gait are obtained by means of this discrete map. The expressions of torques to ensure robot walking are derived and Flip bifurcation is investigated. Numerical simulations, such as phase diagram of period-1, 2, 4 gaits and bifurcation diagram, are given in an example. Theoretical analysis and numerical results obtained in this study provide a theoretical basis for stable walking of ascending stair biped robot with periodic gaits.
- ascending stair biped robot,
- impulse thrust,
- Poincaré map,
- periodic gait,
- walking dynamics
Citation: Jiarui Chen, Aimin Tang, Guanfeng Zhou, Ling Lin, Guirong Jiang. Walking dynamics for an ascending stair biped robot with telescopic legs and impulse thrust[J]. Electronic Research Archive, 2022, 30(11): 4108-4135. doi: 10.3934/era.2022208

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Abstract

In this study, an ascending stair biped robot model with impulse thrust is presented. The biped robot contains a hip joint and two legs with massless telescoping actuator. Impulse thrust is applied at the ankle joint of robot's stance leg to simulate the forward push-off of the ankle during human walking. The nonlinear ascending stair biped model is linearized and a discrete map is obtained. The conditions for the existence and stability of period-1 gait are obtained by means of this discrete map. The expressions of torques to ensure robot walking are derived and Flip bifurcation is investigated. Numerical simulations, such as phase diagram of period-1, 2, 4 gaits and bifurcation diagram, are given in an example. Theoretical analysis and numerical results obtained in this study provide a theoretical basis for stable walking of ascending stair biped robot with periodic gaits.

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