This article develops a coupling dynamic method focusing on the coupling relationship between the leg and the body of a legged robot. The dynamic equation of the method reflects the mechanism between an active operating part and a passive moving part among a multibody system. It is used to adjust the position and posture of the body by driving the motion of the joint of the leg, thereby solving problems such as rollover or overturning of the body during its walking or running. Because the robot has enough redundant degrees of freedom, we can design other additional constraints to achieve coordinated control of the robot. The developed dynamic modeling method is applied for two control tasks. By the results of numerical simulations, the effectiveness of this method is verified.

本文开发了一种耦合动力学方法，着眼于腿式机器人的腿与身体之间的耦合关系。该方法的动力学方程反映了多体系统中主动操作部分和被动运动部分之间的机理。它用于通过驱动腿部关节的运动来调节身体的位置和姿势，从而解决诸如在行走或奔跑过程中身体翻身或倾覆的问题。因为机器人具有足够的冗余自由度，所以我们可以设计其他附加约束来实现对机器人的协调控制。所开发的动态建模方法适用于两个控制任务。数值仿真结果验证了该方法的有效性。