摘要
利用仿真来研究、分析和检验仿人形机器人在步行过程中的受力,对于改进和提高它的步行控制方法具有非常重要的意义。本文首先介绍了作者用OpenGL图形库开发仿人形机器人三维实时仿真系统和全方位观测技术,然后通过分析环境作用力对机器人的影响,提出了在点支撑、线支撑和面支撑三种模式下,机器人的平衡条件和失稳时翻转的旋转轴及旋转速度的求解方法;最后将上述方法应用到机器人三维实时仿真系统中,实现了仿人形机器人控制的可视化,为仿人形机器人研究提供了强有力的手段。
It is very significant for improving the control algorithms of a humanoid robot by simulating motions of the humanoid robot in real-time, A 3D simulation system was implemented based on OpenGL for the biped humanoid robot, and a way of omnibearing observation.was proposed After analysing the environment force effection during the motion of the humanoid robot, a set of balance formula at point-support mode, line-support mode and area-support mode was devloped, and an algorithm for getting rotation axis and rate was developed when the robot loses the balance, The simulational results confirm the effectiveness of the presented forrmulas and algorithms,
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2007年第11期2444-2448,2518,共6页
Journal of System Simulation
基金
广东省自然科学基金(重点)资助项目(36552)
