| 基于ADAMS的双足机器人拟人行走动态仿真 |
| |
| 引用本文： | 王立权,俞志伟. 基于ADAMS的双足机器人拟人行走动态仿真[J]. 计算机仿真, 2009, 26(3) |
| |
| 作者姓名： | 王立权 俞志伟 |
| |
| 作者单位： | 哈尔滨工程大学机电工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学机电工程学院,黑龙江,哈尔滨,150001 |
| |
| 摘 要： | 在双足机器人HEUBR_1的设计中,下肢采用了一种新的串并混联的仿人结构,并在足部增加了足趾关节.为验证该仿人结构设计的合理性及拟人步态规划的可行性,在ADAMS虚拟环境中建立了双足机器人HEUSR_1的仿真模型.通过拟人步态规划生成了运动仿真数据,在ADAMS虚拟环境中实现了具有足趾运动的拟人稳定行走,经仿真分析,获得了双足机器人HEUBR_1拟人行走步态下的运动学和动力学特性,仿真结果表明:双足机器人HEUBR_1的串并混联的仿人结构设计能够满足行走要求,且拟人步态规划方法可行,有足趾运动的拟人行走具有运动平稳、能耗低、足底冲击力小的特点.稳定行走的仿真步态数据可为下一步双足机器人HEUBR_1样机行走实验提供参考数据.
|
| 关 键 词： | 双足机器人 拟人行走 动态仿真 足趾关节 |
Dynamic Simulation of Biped Robot Human-like Walking Based on ADAMS |
| |
| WANG Li-quan,YU Zhi-wei. Dynamic Simulation of Biped Robot Human-like Walking Based on ADAMS[J]. Computer Simulation, 2009, 26(3) |
| |
| Authors: | WANG Li-quan YU Zhi-wei |
| |
| Affiliation: | School of Mechatronics Engineering;Harbin Engineering University;Harbin Heilongjiang 150001;China |
| |
| Abstract: | In the design of biped robot HEUBR-1,a new structure with tandem and parallel connection in lower-limbs is used,and the toe-joint is added to foot.In order to verify the rationality of humanoid structure design and feasibility of the humanoid gait planning,the paper set up a simulation model of biped robot HEUBR-1 using dynamic software ADAMS.Using the motion data exported by humanoid gait planning,the simulation model of biped robot HEUBR-1 walked stably with toe-joint in fictitious surrounding.Through hum... |
| |
| Keywords: | Biped robot Humanoid walking Dynamic simulation Toe-joint |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
