摘要
为了辅助仿人机器人双足步行的步态实验研究,基于微软机器人开发工作室(MRDS),探讨了一种仿人机器人仿真平台的设计和实现.对虚拟环境中仿真机器人实体进行了建模,研究了面向服务思想下机器人应用程序的一般设计模式,实现了平台服务对机器人行为的并发协调控制.双足步态规划及基本视觉识别的测试表明,平台有效实现了仿人机器人多种基本行为的仿真,为步行及其他控制算法的研究及实验提供了支持和基础.
To facilitate the research on gait of biped walking in humanoid robotics,design and implementation of a simulation platform based on Microsoft Robotics Developer Studio（MRDS） were discussed in this paper.Simulated robot modelling was conducted and the design patterns of robotics application under Service-Oriented Architecture were studied.Concurrent and coordinate control of robot behaviour were achieved and realized.Successful experiments,both on biped walking and basic vision,demonstrate that the platform can be expected to provide basic support for further control algorithm research.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2010年第11期1529-1533,共5页
Journal of Shanghai Jiaotong University
关键词
仿人机器人
双足行走
多线程
动力学仿真
humanoid robot
biped walking
multi-threading
dynamics simulation
