摘要
仿人机器人是机器人研究领域的热点问题。文中在利用Pro/E三维建模软件对仿人机器人进行了结构设计之后,又用ADAMS仿真分析软件对仿人机器人进行了步态仿真分析。在ADAMS环境下对针对仿人机器人进行了合理的步态规划,并且在仿人机器人平稳快速行走过程中对上肢的质心位置移动做了定量分析。最后针对仿真分析结果对仿人机器人步态进行了优化设计。
Humanoid robot is a hot issue in the field of robotics research. Structure of the humanoid robot is designed based on Pro/E. Gait simulation analysis of the humanoid robot is carried out based on ADAMS. In the ADAMS environment,the reasonable gait planning of humanoid robot is obtained,and the quantitative analysis on the mass centre position of arm is carried out in the steady and rapid walking process of humanoid robot. Based on results of the simulation analysis,humanoid robot gait is optimized.
引文
[1]付根平.仿人机器人的步态规划和步行控制研究[D].广州:广东工业大学,2013.
[2]李敬,黄强,余张国,等.人体步行规律与仿人机器人步态规划[J].中国科学,2012(9):42-9.
[3]杨春光,赵世平,陆小龙,等.基于虚拟样机的攀爬机器人仿真分析[J].机器人技术,2009(2):73-75.
[4]Qiang Huang,Yokoi,K,Kajita S,et al.Planning Walking Patterns for a Biped Robot[J].IEEE Tran.on Robotics and Automation,2001,17:280-289.
[5]刘晋霞,胡仁喜,康士延,等.ADAMS2012从入门到精通[M].北京:机械工业出版社,2013.