摘要
在人形机器人硬件设计基础上,构建ROS环境下基于DARwIn-OP2人形机器人外壳的URDF仿真模型;并利用Moveit!和Gazebo对该机器人的左手及左腿进行联合仿真。仿真结果验证了该机器人关节的可操作性和运动控制的可行性,为后续复杂运动规划等问题的研究提供基础。
Based on the hardware design of humanoid robot,the URDF simulation model based on DARwIn-OP2 humanoid robot shell under ROS environment is constructed,and the left hand and left leg of the robot are jointly simulated by Moveit!and Gazebo.The simulation results verify the operability of the robot joint and the feasibility of motion control,and provide the basis for the follow-up study of complex motion planning and other issues.
作者
袁丹鹤
杜玉晓
江鑫
向颖
王焕
Yuan Danhe;Du Yuxiao;Jiang Xin;Xiang Ying;Wang Huan(School of Automation,Guangdong University of Technology,Guangzhou 510006,China)
出处
《自动化与信息工程》
2020年第6期6-12,共7页
Automation & Information Engineering
