拟人机器人的建模  

Dynamic Modeling and Analysis for a Humanoid Robot

作　　者：刘英卓[1] 

机构地区：[1]南京财经大学电子商务实验室,江苏南京210003

出　　处：《重庆大学学报（自然科学版）》2006年第2期1-5,共5页Journal of Chongqing University

基　　金：国家"863"资助项目(2001AA422170)

摘　　要：为解决机构复杂的拟人机器人运动学和动力学问题,提出了基于传统机理结合神经网络的建模方法.首先,从几何构造分析出拟人机器人各部分运动规律.其次,采用Lagrange-Euler方法结合对各部分交互作用力的定义得到动力学模型,交互力用神经网络来实现.最后,将此模型对应于实际的机器人参数,通过仿真证明了建模的有效性.结果表明此方法实用、有效.To resolve the kinematics modeling and dynamics modeling of a humanoid robot with complicated machine, a modeling method based on the conventional mechanism combined with neural network is presented. First the kinematics formulas are deduced by analyzing its geometry structure. Second, the dynamics models are built up with Lagrange-Euler method combined with the define of interactive force among all parts of the humanoid robot. The interactive force is realized by neural network method. Finally, the true robot parameters are applied to the model. The simulation results show the validity of the modeling. So, the method is practical and available.

关 键 词：全方位 拟人机器人 动力学建模 交互作用力 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]