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| 小型双足机器人拟人步态建模与行走仿真研究 | |
| 引用本文： | 单以才,刘世豪,秦建华,蒋步福.小型双足机器人拟人步态建模与行走仿真研究[J].现代制造工程,2011(9). |
| 作者姓名： | 单以才 刘世豪 秦建华 蒋步福 |
| 作者单位： | 1. 南京航天航空大学机电学院,南京210016;南京信息职业技术学院机电学院,南京210046 2. 南京信息职业技术学院机电学院,南京,210046 3. 南京航天航空大学机电学院,南京,210016 |
| 基金项目： | 国家科技支撑项目，南京信息职业技术学院院级科研项目 |
| 摘 要： | 步态仿真是双足机器人设计技术的重要环节之一.针对现有步态仿真存在二维仿真不够直观、三维联合仿真会带来链接失败和数据转换丢失等问题,从简化仿真流程和增强仿真视觉效果出发,提出了仅运用三维软件UGNX完成一种小型双足机器人步态的三维仿真.参照该物理样机构型,首先建立了双足行走机构的运动学模型.通过对拟人步态的合理规划,将直行动作分解为10个子动作,以实现序列动作的连续仿真.由于机器人行走时无固定支撑点,通过对脚底板与虚拟环境间添加接触约束和摩擦力,建立了UGNX环境下虚拟样机,最终完成拟人步态的运动学仿真.仿真结果与现场实验对比表明,采用三维软件UGNX进行双足机器人步态建模与行走仿真研究具有较强的可行性. |
| 关 键 词： | 双足机器人 UGNX软件 步态规划 虚拟样机 三维仿真 |
Study on modeling and simulation of a small biped robot about humanoid walking |
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| SHAN Yi-cai,LIU Shi-hao,QIN Jian-hua,JIANG Bu-fu.Study on modeling and simulation of a small biped robot about humanoid walking[J].Modern Manufacturing Engineering,2011(9). | |
| Authors: | SHAN Yi-cai LIU Shi-hao QIN Jian-hua JIANG Bu-fu |
| Affiliation: | SHAN Yi-cai1,2,LIU Shi-hao2,QIN Jian-hua1,JIANG Bu-fu2(1 College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China,2 Nanjing College of Information Technology,Nanjing 210046,China) |
| Abstract: | Gaits simulation is one of a biped robot's design techniques.Aimed to have such problems as hardly having the visualized effect in 2D simulation and failing to transform model and datum between different softwares in 3D simulation,presents a new method about biped robot's motion simulation,which is only based on UGNX software to accomplish 3D simulation of a small biped robot.According to experimental prototype,a small biped robot's kinematics model is set up.Secondly,the movement of going staight is divede... |
| Keywords: | biped robot UGNX software gait planning virtual prototype 3D simulation |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |