基于虚拟样机技术的双足步行机器人联合动力学仿真  

Coordinated Dynamic Simulation of a Biped Walking Robot Based on Virtual Prototype Technology

作　　者：余朝举[1] 魏世民[1] 郭磊[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机械与电子》2008年第12期46-48,共3页Machinery & Electronics

基　　金：国家"八六三"计划资助项目(2007AA04Z211)

摘　　要：为了提高双足步行机器人仿真系统与真实环境之间的相似度,结合物理样机在ADAMS中定义虚拟样机的机械特性,构建基于ADAMS和Matlab的交互式联合仿真系统.仿真结果为建立物理样机控制系统提供依据,避免了不恰当控制策略对物理样机的损伤.In order to increase the degree of similarity for simulation system and real environ- ment of biped walking robot, mechanical properties of the virtual prototype were defined in ADAMS based on physical prototype. With both the AD- AMS and Matlab, an interactive coordinated simu- lation system was established. The results of the simulation offered references for establishing the control system of physical prototype, and avoided destruction to physical prototype caused by im- proper control strategy.

关 键 词：双足步行机器人 虚拟样机 物理样机 联合仿真 相似度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]