基于ADAMS的仿人跑步机器人仿真

Tenth International Conference on Computer Modeling and Simulation (uksim 2008) Pub Date : 2008-04-01 DOI:10.1109/UKSIM.2008.24

H. Wei, Wei Wu, Mingzhi Liu

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引用次数: 2

摘要

利用ADAMS软件建立了仿人跑步机器人的虚拟模型。利用该模型，可以研究如何在没有人形机器人物理模型的情况下实现人形机器人的运行问题。此外，提出了一种基于虚拟腿的机器人奔跑实现方法。通过规划机器人的质心轨迹和两足运动轨迹，实现机器人的稳定运行。机器人的COM轨迹主要由机器人虚拟腿的动力学方程来规划。将此方法应用于机器人的虚拟模型后，机器人的运行速度可达2.9m/s。仿真结果表明了该方法的有效性。

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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Simulation of the Humanoid Running Robot Based on ADAMS

The virtual model of the humanoid running robot is built by using the software ADAMS. With this model, one can research the problem how to realize the running of a humanoid robot without the physical model of the robot. In addition, a method of realizing running for the robot based on virtual leg is proposed. The robot can run stably by planning the trajectory of the center of mass (COM) and the trajectory of two feet of the robot. The trajectory of the COM of the robot is mainly planned by the dynamic equation of the virtual leg of the robot. After this method is used in the virtual model of the robot, the robot can run at a speed of 2.9m/s. The simulation results show the validity of this method.

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Tenth International Conference on Computer Modeling and Simulation (uksim 2008)

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