基于MATLAB/RTW和RTLinux的四足机器人半物理仿真研究

Study on Semi-physical Simulation of Quadruped Robot Control System Based on MATLAB/RTW And RTLinux

采用基于MATLAB/RTW(Real-Time Workshop)和RTLinux的半物理仿真方法对四足机器人控制模型进行了仿真分析。介绍了仿真流程和仿真步骤,构建了四足机器人半物理仿真平台,并对RTLinux目标定制和硬件驱动模块编写进行了阐述。

Based on MATLAB/RTW and RTLinux method, it designs a semi - physical model of a quadruped robot, takes some simulation and analysis. It shows the simulation process, builds a quadruped robot semi-physical simulation platform, illustrates the custom of RTLinux targeting and hardware driver module preparation.