【摘要】 设计了欠驱动步行机器人开放式通用仿真、实验测试软件平台,应用MATLAB对具有膝关节的多自由度欠驱动双足行走机器人进行了运动-动力学建模与数值仿真,利用姿态还原算法重建机器人行走的运动学过程,应用计算机通信接口实现与机器人原型机的双向通信与控制连接,并应用VC++/OpenGL实现了人机交互界面和机器人行走的3D动画演示,研究成果对欠驱动双足机器人仿真、控制开发以及实验研究具有重要的应用价值。更多还原

【Abstract】 A general simulation software with an opening structure was designed for the passive dynamic walker. A hybrid dynamic model of the passive walker with knees and ankles was derived and solved by numerical simulation. The walking gaits of the biped locomotion were reconstructed using the proposed attitude reconstruction algorithm. The bidirectional communication was integrated via peripheral interfaces of industrial computer. The GUI of the software and the 3D animation display of walking process were implemented by Visual C++ and OpenGL. All the above researches are much helpful to the simulation, gait analyses and controller design of biped robot, as well as its further experimental studies.更多还原