| 基于ADAMS的仿人机器人步态规划算法仿真和实现 |
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| 引用本文： | 刘凯. 基于ADAMS的仿人机器人步态规划算法仿真和实现[J]. 微型电脑应用, 2010, 26(3): 51-53 |
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| 作者姓名： | 刘凯 |
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| 作者单位： | 上海交通大学自动化系,上海,200240 |
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| 摘 要： | 论文从便于算法分析和保护仿人机器人物理样机的角度,提出了先利用ADAMS建立虚拟原理样机系统,再进行步态算法仿真和实现的方法。并详细阐述了基于ZMP的仿人机器人步态规划算法,以及如何利用ADAMS对步态规划算法进行仿真。最后通过实验验证了仿真的必要性和有效性。
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| 关 键 词： | 仿人机器人 步态规划算法 ADAMS |
Simulation and Realization of Humanoid Robot Gait Planning AlgorithmBased on ADAMS |
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| Liu Kai. Simulation and Realization of Humanoid Robot Gait Planning AlgorithmBased on ADAMS[J]. Microcomputer Applications, 2010, 26(3): 51-53 |
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| Authors: | Liu Kai |
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| Affiliation: | Liu Kai (Department of Automation,Shanghai Jiaotong University,Shanghai 200240,China) |
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| Abstract: | In order to facilitate algorithm analysis and protect the physical prototype of humanoid robot, a virtual prototype system based on ADAMS and simulating gait planning algorithm is proposed in this paper. Then,the humanoid robot gait planning algorithm based on the ZMP is illustrated in detail, and the simulation of gait planning algorithm based on ADAMS is described.Finally,the necessity and effectiveness of the gait planning algorithm of simulation based on ADAMS is verified by experiments. |
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| Keywords: | ADAMS |
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