两足机器人的SimMechanics建模  

Modeling of biped robot by SimMechanics

作　　者：徐生林[1] 刘艳娜[1] 

机构地区：[1]杭州电子科技大学自动化学院,浙江杭州310018

出　　处：《浙江大学学报（工学版）》2010年第7期1361-1367,共7页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(60974138;60901032)

摘　　要：建立机器人的电脑模型,对机器人的整体运动进行模拟仿真.针对机器人数学描述复杂、机器人运动学、动力学分析较为困难的问题,大部分两足机器人采用基于模型的控制方法.该方法需要对机器人自身及周围环境建模.在复杂模型下控制器计算的实时性难以保证,控制难度较大,从而限制了机器人的性能.使用Matlab中的Sim-Mechanics工具箱建立两足机器人的电脑模型,对机器人的整体运动进行模拟仿真.通过仿真验证了模型的合理性,得到了机器人运动的模拟图.The biped robot＇s computer model was built,and the overall simulation of the robot movement was conducted.Because of the complexity of the biped robot＇s mathematical description and the difficulties of walking robot＇s dynamic character analysis,most biped robots used the model-based control method to model itself and the surrounding environment.The real-time property of the controller＇s computing was difficult to be guaranteed and controlled under the complex model.Then the robot＇s performance was limited.The SimMechanics of Matlab toolbox was used to build the computer model of the biped robot and conduct the robot overall movement simulation.The simulation proved the reasonability of the model,and the robot＇s movement simulation figures were obtained.

关 键 词：两足机器人 SimMechanics工具 步态模拟 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]