双足机器人动态模拟器的设计

IF 0.8 Q3 ENGINEERING, MULTIDISCIPLINARY

Modelling and Simulation in Engineering Pub Date : 2021-05-04 DOI:10.1155/2021/5539123

D. Bravo M., C. F. Rengifo Rodas

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引用次数: 2

摘要

仿真是动态系统的虚拟表示。对于机械系统，模拟器用于计算其基座与地面之间的反作用力和其他约束条件。这些力的间歇性以及它们必须满足的数学不等式导致了由混合代数微分方程描述的模型。本文以七自由度平面双足机器人为研究对象，利用欧拉-拉格朗日公式对其进行建模。该模型允许平衡管理控制策略的设计和实现，并且在实际样机上实施之前，在模拟器中对特定参考路径的监控进行测试。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of a Dynamic Simulator for a Biped Robot

Simulation is a virtual representation of a dynamic system. For the case of mechanical systems, the simulator is used to calculate the reaction forces between its base and the ground and other constraints. The intermittent nature of these forces and the mathematical inequalities that they must satisfy lead to models described by hybrid algebraic differential equations. In this paper, a simulator was developed for a seven degrees of freedom planar biped robot, which was modeled using the Euler-Lagrange formulation. This model allowed the design and implementation of a control strategy for balance management, and the monitoring of articular reference paths are tested in the simulator before proceeding to implementation on the actual prototype.

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来源期刊

Modelling and Simulation in Engineering ENGINEERING, MULTIDISCIPLINARY-

CiteScore

2.70

自引率

3.10%

发文量

审稿时长

18 weeks

期刊介绍： Modelling and Simulation in Engineering aims at providing a forum for the discussion of formalisms, methodologies and simulation tools that are intended to support the new, broader interpretation of Engineering. Competitive pressures of Global Economy have had a profound effect on the manufacturing in Europe, Japan and the USA with much of the production being outsourced. In this context the traditional interpretation of engineering profession linked to the actual manufacturing needs to be broadened to include the integration of outsourced components and the consideration of logistic, economical and human factors in the design of engineering products and services.