基于虚拟仿真的四足机器人行走研究

Research on Four-Legged Robots' Walking with the Virtual Simulation

进行了四足机器人行走过程的仿真分析,建立了四足机器人的三维软件模型,导入仿真软件ADAMS中,通过加入约束和动力分析,以一定形式的步态分析实现了机器人在平面上的行走。并以机器狗模型为例子分析了稳定性以及在行走过程中各部分动作产生的影响,为研究智能化玩具程序开发和四足机器人提供借鉴。

With simulation analysis on four-legged robots＇ walking process, set up four-legged robots model with 3-D software. Using software of ADAMS to achieve the robots walking on the plane by adding restrictions and dynamical analysis and a series form of pace analysis. Furthermore, taking robot dog model as an example through the analysis of its stability and the influence of every part＇ s motion, thus provided reference for research on intellectualized toys and fourlegged robots.