基于Webots仿真软件的四足机器人建模和运动控制  

The Modeling and Locomotion Controlling for the Quadruped Robot Based on Simulator Webots

作　　者：辛亚先 李彬[1] 洪真[1] 

机构地区：[1]齐鲁工业大学理学院,山东济南250353

出　　处：《齐鲁工业大学学报》2016年第2期45-51,共7页Journal of Qilu University of Technology

基　　金：国家自然科学基金(61305130);山东省自然科学基金(ZR2013FQ003);中国博士后基金(2013M541912)

摘　　要：运用计算机进行机器人仿真,首先对四足机器人模型的各项参数进行设定,对各部分关系进行分析;在此基础上利用Webots 8.3仿真平台构建机器人的3D模型、分析了机器人控制原理,以及如何创建和添加控制器。The robot simulation is carried out by computer. Firstly,various parameters are set up and the relationship of each part in the model of quadruped robot is analyzed in this paper. Secondly,the 3D modeling process of the quadruped robot is described in detail based on the simulator Webots 8. 3.Thirdly,the control principle in the programming of the Webots is explained. Finally,how to compile the controller and add to the 3D model of the controlling of the quadruped robot are explained.

关 键 词：Webots软件 四足机器人 建模方法 控制方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]