The global stability analysis of passive biped robot based on gradual point mapping — Cell mapping method

摘要

On the basis of Poincare mapping and cell mapping theories, this paper proposes an improved PCM method that is Gradual Point Mapping - Cell Mapping (GPCM) method. Compared with Point Mapping - Cell Mapping Synthesis (PCM) method, GPCM method proposed can better address the calculation excessive, the credibility guarantee and other issues. The global stability of passive biped robot was analyzed by using GPCM method, the global domains of attraction of a variety of physical parameters' combinations were solved, and we optimized the robot's parameters accordingly. The dynamics simulation and robot prototype experiments show that the robot has strong robustness and can converge to a stable gait by a fast convergence rate.