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浙江大学学报(工学版)
J4  2010, Vol. 44 Issue (7): 1361-1367    DOI: 10.3785/j.issn.1008-973X.2010.07.023
自动化技术     
两足机器人的SimMechanics建模
徐生林, 刘艳娜
杭州电子科技大学 自动化学院,浙江 杭州 310018
Modeling of biped robot by SimMechanics
XU Sheng-lin, LIU Yan-na
School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
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摘要：

建立机器人的电脑模型,对机器人的整体运动进行模拟仿真.针对机器人数学描述复杂、机器人运动学、动力学分析较为困难的问题,大部分两足机器人采用基于模型的控制方法.该方法需要对机器人自身及周围环境建模.在复杂模型下控制器计算的实时性难以保证,控制难度较大,从而限制了机器人的性能.使用Matlab中的SimMechanics 工具箱建立两足机器人的电脑模型,对机器人的整体运动进行模拟仿真.通过仿真验证了模型的合理性, 得到了机器人运动的模拟图.
Abstract:

The biped robot’s computer model was built, and the overall simulation of the robot movement was conducted. Because of the complexity of the biped robot’s mathematical description and the difficulties of walking robot’s dynamic character analysis, most biped robots used the modelbased control method to model itself and the surrounding environment. The realtime property of the controller’s computing was difficult to be guaranteed and controlled under the complex model. Then the robot’s performance was limited. The SimMechanics of Matlab toolbox was used to build the computer model of the biped robot and conduct the robot overall movement simulation. The simulation proved the reasonability of the model, and the robot’s movement simulation figures were obtained.
出版日期: 2010-07-01
:  TP 242.6  
基金资助:

国家自然科学基金资助项目（60974138，60901032）.
作者简介: 徐生林（1971—），男，浙江杭州人，副教授,从事计算机科学与技术的研究.E-mail: xusl@hdu.edu.cn
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引用本文:

徐生林, 刘艳娜. 两足机器人的SimMechanics建模[J]. J4, 2010, 44(7): 1361-1367.

XU Sheng-Lin, LIU Yan-Na. Modeling of biped robot by SimMechanics. J4, 2010, 44(7): 1361-1367.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2010.07.023    或    http://www.zjujournals.com/eng/CN/Y2010/V44/I7/1361

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