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基于ADAMS的仿人机器人行走仿真

The Working Simulation of Humanoid Robot Base on ADAMS
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摘要 采用机械系统动力学仿真分析软件ADAMS进行建模和动力学仿真,提供机器人三维实体模型、运动学和动力学模型以及动画仿真.采用控制系统专业软件Matlab进行机器人控制系统设计,提供控制关节目标轨迹、稳定控制算法并输出驱动力矩.通过ADAMS/Controls接口模块建立起Matlab与ADAMS之间的数据接口.联合仿真方法为实现仿人机器人在线控制奠定了基础. A simulation method combining ADAMS and Matlab namic model were built in ADAMS. The design and simulation data communication between Matlab and ADAMS was realized b ulation method lays a foundation for on-line control of humanoid was adopted. 3D entity model, kinematics and dyof the control system were realized in Matlab. The y the interface module ADAMS/Controls. This sirerobot.
作者 肖乐 常晋义 殷晨波
机构地区 常熟理工学院计算机科学与工程学院 南京工业大学机械与动力工程学院
出处 《常熟理工学院学报》 2012年第4期73-78,共6页 Journal of Changshu Institute of Technology
关键词 仿人机器人 虚拟样机 行走稳定性 联合仿真 humanoid robot, virtual prototype, walking stability, co-simulation
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献5

  • 1马宏绪.两足步行机器人动态行走研究[D].长沙:国防科技大学,1995.
  • 2C B Yin, A Albert. Stability Maintenance of a Humanoid Robot under Disturbance with Fictitious Zero-Moment Point [A]. IEEE/RSJ International Conference on Intelligent Robots and Systems [C]. Edmonton Alberta Canada August, 2005: 1780-1787.
  • 3Li Zhaohui, Huang Qiang, Li Kejie, et al. Stability Criterion and Pattern Planning for Humanoid Running[C]. Proceedings of the 2004 IEEE International Conference on Robotics and Automation. New Orleans, France: IEEE Press, 2004: 1059-1064.
  • 4肖乐,常晋义.仿人机器人下楼梯的自适应模糊控制方法[J].计算机工程,2009,35(13):193-195. 被引量：6
  • 5徐燕华.复杂产品的虚拟样机仿真研究[D].天津:天津大学机械工程学院,2004.

二级参考文献7

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  • 2Li Zhaohui,Huang Qiang,Li Kejie,et al.Stability Criterion and Pattern Planning for Humanoid Running[C]//Proceedings of the 2004 IEEE International Conference on Robotics and Automation.New Orleans,France:IEEE Press,2004:1059-1064.
  • 3Plestan F,Grizzle W,Wesrervelt R,et al.Stable Walking of a 7-DOF Biped Robot[J].IEEE Transactions on Robotics and Automation,2004,19(4):653-668.
  • 4Kim J H,Oh J H.Walking Control of the Humanoid Platform KHR-1 Based on Torque Feedback Control[C]//Proceedings of the 2004 IEEE International Conference on Robotics and Automation.New Orleans,France:IEEE Press,2004:623-628.
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  • 7Vukobratovic M,Juricic D.Contributions to the Synthesis of Biped Gait[J].IEEE Trans,on Bio-medical Engineering,1969,16(1):1-6.

共引文献5

常熟理工学院学报
2012年 第4期

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