基于SCS的四足仿生机器人运动仿真平台  

SCS based simulation platform for quadruped bionic robots

作　　者：张秀丽[1] 龚加庆[1] 刘虎[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《北京交通大学学报》2015年第4期23-28,共6页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：中央高校基本科研业务费专项资金资助(M15JB00250)

摘　　要：SCS(Simulation Construction Set)是Yobotics公司开发的对机械设备、仿生机械系统等复杂的多刚体系统进行运动仿真的软件包.基于SCS开发出一套面向四足仿生机器人的专用运动仿真平台,包括四足仿生机器人机构建模、基于VMC(Virtual Model Control)的动力学建模、地面接触模型及环境建模和数据处理模块设计.利用该仿真平台对一款16自由度四足仿生机器人的动态行走进行了仿真.结果表明:仿真过程流畅、快速、机器人行走平稳,验证了该仿真平台的实用性和可靠性.SCS is a movement simulation software package developed by Yobotics, used for complicated multi-rigid-body systems such as mechanical devices bionic mechanical systems, etc. In this paper, we developed a SCS based simulation platform specially for quadruped bionic robots. The simulation plat- form includes mechanical modeling VMC based dynamics modeling, ground contact/environment mod-eling and data processing module. Walking simulations of a 16 DOF （Degree of Freedom）quadruped bionic robot were conducted using this simulation platform. The simulation is smooth and fast and the robot completed the walking successfully. The results prove the practicability and reliability of the simulation platform.

关 键 词：四足仿生机器人 仿真平台 运动仿真 仿真开发包 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]