基于ADAMS和MATLAB的两足机器人的步态联合仿真

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英文篇名：Co-simulation of Gait for Biped Robot Based on ADAMS and MATLAB 作者：曹杰昌 ; 张立中 ; 白杨杨 英文作者：CAO Jiechang;ZHANG Lizhong;BAI Yangyang;Institute of Mechatronical Engineering,Changchun University of Science and Technology;Fundamental Science on Space-Ground Laser Communication Technology Laboratory,Changchun University of Science and Technology; 关键词：两足机器人 ; ADAMS ; MATLAB ; 步态联合仿真 英文关键词：biped robot;;ADAMS;;MATLAB;;co-simulation of gait 中文刊名：CGJM 英文刊名：Journal of Changchun University of Science and Technology(Natural Science Edition) 机构：长春理工大学机电工程学院;长春理工大学空地激光通信国防重点学科实验室; 出版日期：2016-10-15 出版单位：长春理工大学学报(自然科学版) 年：2016 期：v.39 语种：中文; 页：CGJM201605017 页数：4 CN：05 ISSN：22-1364/TH 分类号：85-88

摘要

为提高两足机器人的设计效率,降低设计成本,验证步态规划的正确性,在研制两足机器人物理样机前,应对其进行虚拟样机仿真。首先在ADAMS环境中建立简化的两足机器人动力学模型,然后在Matlab/Simulink中建立控制系统,最后利用二者之间的接口实现基于ADAMS和MATLAB的两足机器人的步态联合仿真,在仿真过程中观察两足机器人的行走过程,验证设计方案的正确性,为其物理样机的研制提供依据。
        In order to improve the efficiency, reduce the cost of biped robot design and verify the correctness of gait programming,virtual prototype simulation system has been built before developed the physical prototype of biped robot. First,the mechanical dynamic model of biped robot was built simplify in ADAMS. Second,the control systems ware built in Matlab/Simulink. Last,using the interface between them,we can realized the coordinated simulation of gait for biped robot based on ADAMS and MATLAB. Observed the walking of biped robot in the simulation process,verify the accuracy of the design,provide evidence for the development.

引文

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