基于虚拟样机的异构双腿机器人联合仿真  

United Simulation for Biped Robot with Heterogeneous Legs Based on Virtual Prototyping

作　　者：王斐[1] 吴成东[1] 闻时光[1] 徐心和[1] 

机构地区：[1]东北大学人工智能与机器人研究所,沈阳110004

出　　处：《系统仿真学报》2009年第15期4827-4830,4834,共5页Journal of System Simulation

基　　金：国家自然科学基金(60705031);教育部博士学科点科研基金(20070145105);机器人技术与系统国家重点实验室(哈尔滨工业大学)开放课题基金(SKLRS200711)

摘　　要：阐述了一类新型双足机器人——异构双腿机器人的概念及研究目的。研究用Pro/E、ADAMS和MATLAB/Simulink联合构建异构双腿机器人的虚拟样机,并提出基于虚拟样机的联合仿真策略。为实现对期望步态的动态跟踪,提出了基于对角回归神经网络的自适应PID控制算法。为验证方案的合理性,进行了步态仿真及控制仿真。结果表明,虚拟样机技术可避免复杂的人工建模和求解过程,仿真逼真且接近实际系统,为复杂双足机器人系统提供了良好的研究方法。The conception and research purpose of Biped robot with heterogeneous legs （BRHL）, which is a new type of biped robot, is detailed. Pro/E, ADAMS and MATLAB/Simulink were integrated to construct BRHL virtualprototype, and the virtual prototyping based united simulation strategy was proposed. To realize real-time gait tracking, a diagonal recurrent neural network based adaptive PID control algorithm was used to adjust the joint drive torque. Gait and control simulation were conducted to validate the effectiveness of the proposed scheme. Simulation results demonstrate that virtual prototyping can avoid heavy work of manual modeling and solving and can provide an effective way to study the complicated biped robotics system.

关 键 词：异构双腿机器人 虚拟样机 联合仿真 对角回归神经网络 自适应P1D控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]