CN103832504B - Bionic foot-type robot comprehensive simulation method - Google Patents
Bionic foot-type robot comprehensive simulation method Download PDFInfo
- Publication number
- CN103832504B CN103832504B CN201410064577.9A CN201410064577A CN103832504B CN 103832504 B CN103832504 B CN 103832504B CN 201410064577 A CN201410064577 A CN 201410064577A CN 103832504 B CN103832504 B CN 103832504B
- Authority
- CN
- China
- Prior art keywords
- matlab
- type robot
- legged type
- bionical
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims abstract description 77
- 239000011664 nicotinic acid Substances 0.000 title abstract 9
- 230000033001 locomotion Effects 0.000 claims abstract description 123
- 230000005021 gait Effects 0.000 claims abstract description 113
- 230000005540 biological transmission Effects 0.000 claims description 29
- 230000008569 process Effects 0.000 claims description 25
- 230000006870 function Effects 0.000 claims description 14
- 230000008447 perception Effects 0.000 claims description 13
- 238000012360 testing method Methods 0.000 claims description 11
- 238000002474 experimental method Methods 0.000 claims description 9
- 210000003141 lower extremity Anatomy 0.000 claims description 9
- 230000006978 adaptation Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 241000208340 Araliaceae Species 0.000 claims description 5
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 5
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 5
- 235000008434 ginseng Nutrition 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 239000011551 heat transfer agent Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000295 complement effect Effects 0.000 claims description 2
- 238000011835 investigation Methods 0.000 claims description 2
- 230000008034 disappearance Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000012795 verification Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 13
- 238000011160 research Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 206010049214 Monopodia Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Abstract
The invention discloses a bionic foot-type robot comprehensive simulation method, and belongs to the field of robot technology application. According to the bionic foot-type robot comprehensive simulation method, an adopted system comprises a Matlab/Simulink-based bionic foot-type robot control model (A), a Matlab/SimMechanics-based bionic foot-type robot kinematical simulation model (B), an ADAMS-based bionic foot-type robot dynamical model (C) and a bionic foot-type robot experimental prototype (D). The comprehensive simulation method comprises a real-time kinematical and dynamical demonstration method for the motion state of the robot experimental prototype, a real-time motion control method, used after simulation verification is generated according to robot gaits, for the robot experimental prototype, a self-learning adjusting method for robot virtual joint simulation and semi-physical simulation, and a robot self-adaptability multi-coordination control method. The bionic foot-type robot comprehensive simulation method has the advantages of being low in cost and multifunctional, basically meets the requirement for simulation debugging of a traditional bionic foot-type robot, and has the certain general applicability.
Description
Technical field
The invention belongs to roboticses application is and in particular to a kind of combine based on matlab, adams and half are in kind
The bionical legged type robot comprehensive simulating method of emulation, is mainly used in bionical legged type robot motion demonstrating, gait generates, certainly
Study and many coordinations control.
Background technology
Bionical legged type robot is one of the problem in current robot research field forward position the most, and it collects machinery, electronics, meter
The multi-door subject such as calculation machine, material, sensor, control technology and artificial intelligence in one, reflect a national intellectuality and
Automation research level, also serves as the important symbol of a national high-tech strength, each developed country is in this field in succession simultaneously
Put into huge fund to conduct a research.
Bionical legged type robot more standby superior locomotivity than wheeled, caterpillar type robot, can adapt to complexity many
The non-structural natural environment becoming requires.Because it possesses more joint freedom degrees, also make the bionical sufficient formula machine of debugging control
People is more difficult.Generally adopt dummy emulation method as Robot Design early stage Qualify Phase, as beam green grass or young crops et al. is delivered
Can be using half when the biped robot's modeling and simulation (" Computer Simulation " the 5th phase in 2010) based on adams, later stage debugging
Matter emulation board (as dspace semi-physical emulation platform) carries out half debugging in kind, such as Li Xuejun et al. deliver based on
Dspace Design of Hardware (" Changchun University's journal " 06 phase in 2011).
Because there is its each pluses and minuses in each simulation software, also have and carry out associative simulation (as Liu is little using 2 simulation softwares
The Fang Xie robot that one-tenth et al. is delivered is based on matlab and analyzes (" microcomputer information " 2010 with adams monopodia associative simulation
14th phase)), but purely virtual combination simulation result often differs larger with actual experiment data, does not have certain actual finger
Lead meaning；The single HWIL simulation based on HWIL simulation board, not only depends on existing high-tech integrated hardware and soft
Part (the costly, drawback such as not strong to bionical legged type robot motor control debugging adaptability), and soft with other virtual emulations
Part is unsuitable compatible.
For case above, the present invention proposes a kind of bionical foot based on matlab, adams and half associative simulation in kind
Formula robot comprehensive simulating method it is characterised in that using the advantage that various virtual emulation softwares are good at carry out the division of labor combine imitative
Very, borrow bionical legged type robot model machine wireless launcher and carry out wireless data transmission with computer controls platform, real
Wave matlab, adams and the advantage of half associative simulation in kind, can achieve multiple work(of bionical legged type robot motion debugging
Can, specifically include: bionical legged type robot motion demonstrating, gait generate, self study and many coordinations control.
Bionical legged type robot motion demonstrating based on matlab, adams and half associative simulation in kind, gait generate, certainly
Study and many control method for coordinating, innovatively propose the multi-functional adjustment method of collection, are that bionical legged type robot is transported comprehensively
Dynamic control debugs the new thinking of offer and method, has critically important theory significance and practical value.
Content of the invention
It is an object of the invention to provide a kind of bionical sufficient formula machine based on matlab, adams and half associative simulation in kind
Device people's comprehensive simulating method.
A kind of bionical legged type robot comprehensive simulating method based on matlab, adams and half associative simulation in kind, it is special
Levy and be:
System for use in carrying includes: based on matlab/simulink bionical legged type robot Controlling model, is based on matlab/
Simmechanics bionical legged type robot Kinematics Simulation model, based on adams bionical legged type robot kinetic model, imitative
Raw legged type robot experimental prototype.
Methods described includes the kinestate Real Time Kinematic presentation process of robot experimental prototype, concrete mode: bionical
Legged type robot experimental prototype wireless transmission interface machine people's environment sensing and real time kinematics feedback data are to based on matlab/
In simulink bionical legged type robot Controlling model, passed based on matlab/simulink bionical legged type robot Controlling model
Defeated sufficient end motion track and gait parameter are to based on matlab/simmechanics bionical legged type robot Kinematics Simulation model
In, and there is in matlab/simmechanics the kinematics of mechanism flash demo function of correlation, the experiment of the robot of display in real time
The kinestate of model machine, related oint motion trajectory and gait data are transferred to based on the bionical foot of matlab/simulink
In formula machine human operator model, carry out kinematic data and collect and preserve；
Methods described includes robot experimental prototype kinestate Real-time dynamics presentation process, concrete mode: bionical foot
Formula robot experimental prototype wireless transmission interface machine people's environment sensing and real time kinematics feedback data are to based on matlab/
In simulink bionical legged type robot Controlling model, passed based on matlab/simulink bionical legged type robot Controlling model
Transport Dynamic gait and attitude data is transferred to based in adams bionical legged type robot kinetic model, and there is in adams phase
The mechanism dynamic flash demo function of closing, can show the dynamics data of robot experimental prototype, the kinetics of correlation in real time
Associative simulation output data, to based in matlab/simulink bionical legged type robot Controlling model, carries out dynamics data
Collect and preserve；
Methods described includes robot pure virtual combination motion simulation process, concrete mode: based on matlab/simulink
The sufficient end motion track of bionical legged type robot Controlling model transmission and gait parameter are to bionical based on matlab/simmechanics
Legged type robot Kinematics Simulation model, by oint motion trajectory and gait data after matlab/simmechanics emulation
It is aggregated into based on matlab/simulink bionical legged type robot Controlling model, based on the bionical sufficient formula machine of matlab/simulink
Motion gait and attitude data are sent to based on adams bionical legged type robot kinetic model, warp device human operator model
After adams dynamics simulation, Dynamic Co-Simulation output data is aggregated into based on the bionical sufficient formula machine of matlab/simulink
Device human operator model, completes the associated movement emulation of matlab/simmechanics and adams；
Methods described includes robot gait generation, the real time kinematics control process of robot experimental prototype, concrete mode:
Sufficient end motion track and gait parameter are transmitted to being based on based on matlab/simulink bionical legged type robot Controlling model
Matlab/simmechanics bionical legged type robot Kinematics Simulation model, will after matlab/simmechanics emulation
Oint motion trajectory and gait data are aggregated into based on matlab/simulink bionical legged type robot Controlling model, are based on
Matlab/simulink bionical legged type robot Controlling model by robot motion's gait data bag and coordinates control instruction parameter
It is wirelessly sent to bionical legged type robot experimental prototype, complete data after being generated by matlab/simmechanics gait real
When control the motion of robot experimental prototype；
Methods described includes that robot gait generates, the real time kinematics of robot experimental prototype after simulating, verifying controlled
Journey, concrete mode: sufficient end motion track and gait ginseng are transmitted based on matlab/simulink bionical legged type robot Controlling model
Count to based on matlab/simmechanics bionical legged type robot Kinematics Simulation model, through matlab/simmechanics
After emulation, oint motion trajectory and gait data are aggregated into based on matlab/simulink bionical legged type robot Controlling model
A motion gait and attitude data are sent to based on matlab/simulink bionical legged type robot Controlling model and are based on by ()
Adams bionical legged type robot kinetic model, after adams dynamics simulation, Dynamic Co-Simulation output data is converged
Always arrive based on matlab/simulink bionical legged type robot Controlling model, complete the life of matlab/simmechanics gait
Become the associated movement simulating, verifying with adams, then robot motion's gait data bag and coordination control instruction parameter are wirelessly sent out
Give bionical legged type robot experimental prototype, complete by matlab/simmechanics gait generate and adams combine fortune
After dynamic simulating, verifying, the motion of data real-time control machine people's experimental prototype, more accurately achieves the motion of robot experimental prototype
Control；
Methods described includes Robot Virtual associative simulation self study adjustment process, concrete mode: based on matlab/
The sufficient end motion track of simulink bionical legged type robot Controlling model transmission and gait parameter are to based on matlab/
Joint is transported after matlab/simmechanics emulation by simmechanics bionical legged type robot Kinematics Simulation model
Dynamic rail mark and gait data are aggregated into based on matlab/simulink bionical legged type robot Controlling model, based on matlab/
Motion gait and attitude data are sent to based on adams bionical sufficient formula machine simulink bionical legged type robot Controlling model
Human occupant dynamic model, after adams dynamics simulation, Dynamic Co-Simulation output data is aggregated into based on matlab/
Simulink bionical legged type robot Controlling model, completes the associated movement of matlab/simmechanics and adams
Emulation, by based on self-learning module adjusting parameter in matlab/simulink bionical legged type robot Controlling model, carrying out even
Continuous circulation emulation, finally realizes virtual combination emulation self study adjustment, provides foundation for data-optimized and Self Adaptive Control；
Methods described includes robot HWIL simulation self study adjustment process, concrete mode: based on matlab/
The sufficient end motion track of simulink bionical legged type robot Controlling model transmission and gait parameter are to based on matlab/
Joint is transported after matlab/simmechanics emulation by simmechanics bionical legged type robot Kinematics Simulation model
Dynamic rail mark and gait data are aggregated into based on matlab/simulink bionical legged type robot Controlling model, based on matlab/
Robot motion's gait data bag and coordination control instruction parameter are sent to by simulink bionical legged type robot Controlling model
Bionical legged type robot experimental prototype, after robot experimental prototype exercise testing, by robot environment's perception and real time kinematics
Feedback data is aggregated into based on matlab/simulink bionical legged type robot Controlling model, completes a matlab/
The associated movement emulation of simmechanics and half full-scale investigation model machine, by based on the bionical sufficient formula machine of matlab/simulink
Self-learning module adjusting parameter in device human operator model, is continuously circulated HWIL simulation, finally realize half material object combine imitative
Self study adjustment under very, provides foundation for data-optimized and Self Adaptive Control；
Methods described includes coordinating control process robot self adaptation more, concrete mode: is imitated based on matlab/simulink
Raw legged type robot Controlling model transmission foot end motion track and gait parameter are to based on the bionical foot of matlab/simmechanics
Oint motion trajectory and gait data are converged after matlab/simmechanics emulation by formula Kinematics simulation of robots model
Always arrive based on matlab/simulink bionical legged type robot Controlling model, based on the bionical sufficient formula machine of matlab/simulink
Motion gait and attitude data are sent to based on adams bionical legged type robot kinetic model by human operator model, through adams
After dynamics simulation, Dynamic Co-Simulation output data is aggregated into based on the bionical legged type robot of matlab/simulink
Controlling model；At the same time, based on matlab/simulink bionical legged type robot Controlling model, by robot motion's gait
Packet and coordination control instruction parameter are sent to bionical legged type robot experimental prototype, through robot experimental prototype exercise testing
Afterwards, robot environment's perception and real time kinematics feedback data are aggregated into based on the bionical legged type robot of matlab/simulink
Controlling model；Integrate Dynamic Co-Simulation output data and real time kinematics feedback data, both data carry out complementation and self-study
Practise regulation and control, complete under conditions of actual robot model machine lack part heat transfer agent, realize robot by emulation data
Coordinating self adaptation to control more.
The described bionical legged type robot comprehensive simulating method based on matlab, adams and half associative simulation in kind, its
It is characterised by: described builds mode based on matlab/simulink bionical legged type robot Controlling model, concrete mode: first
First setting such as internal system simulation algorithm type, cycle, step in matlab/simulink bionical legged type robot analogue system
The long, parameter of range of error, then according to realizing optionally setting up based on matlab/simulink's needed for robot debugging
Bionical legged type robot motion demonstrating module, the bionical legged type robot motion gait control based on matlab/simulink for the foundation
Molding block, set up bionical legged type robot motion self-learning module based on matlab/simulink and set up and be based on matlab/
The bionical legged type robot coordinating control module of simulink, finally connects the bionical legged type robot of matlab/simulink and imitates
True system interface, carries out data exchange, and coordination data is processed.
The described bionical legged type robot comprehensive simulating method based on matlab, adams and half associative simulation in kind, its
Be characterised by: described based on matlab/simmechanics bionical legged type robot Kinematics Simulation model buildings mode, have
Body mode: create matlab/simmechanics bionical legged type robot Kinematics Simulation environment first, initialization system environment is joined
Number, then sets up bionical legged type robot system world coordinate system and each lower limb movable joint in matlab/simmechanics
Number of degrees of freedom, and direction, setting include quality, inertia, each lower limb rod member rigid body parameter of length, joint control type, joint
Sensor output type, requires finally according to motion planning and robot control, draws the bionical sufficient formula machine of matlab/simmechanics
Input in people's Kinematics Simulation model and output interface, prepare to accept joint input data and send joint output data, enter
Row data exchange, realizes kinematics operation function.
The described bionical legged type robot comprehensive simulating method based on matlab, adams and half associative simulation in kind, its
It is characterised by: described builds mode based on adams bionical legged type robot kinetic model, concrete mode: create first
Adams bionical legged type robot dynamics simulation environment, initialization system ambient parameter, then import in adams ground rigid body,
The each lower limb rod member rigid body of bionical legged type robot, sets rigid body physical dimension, material type or density or mass parameter, Ran Hou
Set joint freedom degrees number and joint type between each rigid body in adams, and set in adams each sufficient end and ground rigid body it
Between crash type, frictional constraint and relevant parameter set, finally according to actual requirement, set adams bionical legged type robot fortune
The dynamic input learned in phantom and output interface, preparation accepts joint input data, transmission joint output data and sufficient end and touches
Hit force data, carry out data exchange, realize kinetics calculation function.
The described bionical legged type robot comprehensive simulating method based on matlab, adams and half associative simulation in kind, its
It is characterised by: described bionical legged type robot experimental prototype operating process, concrete mode: bionical first legged type robot experiment
Model machine is initialized, and sets and includes system initialization parameter, then bionical legged type robot experimental prototype wireless receiving upper strata
Task control command signal and gait data, then carry out bionical legged type robot experimental prototype exercise testing, simultaneously experiment
During in real time the attitude sensing of bionical legged type robot experimental prototype itself perception, joint angles, angular velocity, sufficient end power are believed
The infrared distance measurement of breath and bionical legged type robot experimental prototype Context awareness, Machine Vision Recognition distribution of obstacles, state of ground
Information is wirelessly sent to computer controls platform.The operation principle of the present invention:
Based on matlab/simmechanics in bionical legged type robot kinematic calculation advantage, analysis robot gait
Generate, the data obtaining is as robot motion's reference frame；Excellent in bionical legged type robot dynamics calculation based on adams
Point, dynamicss under movement environment for the analysis robot, related data is as bionical legged type robot dynamic stabilization
Judging basis；Set up by the bionical legged type robot software associative simulation environment of computer controls platform, realize data exchange
And complementation, by wireless transmission and the reception device of bionical legged type robot experimental prototype, carry out in kind with the half of experimental prototype
Debugging, wherein sends the gait data after simulating, verifying by computer controls platform and coordinates control instruction, experimental prototype is carried out
Exercise testing, the sensor information on related model machine feeds back to computer controls platform by wireless base station apparatus, by accordingly imitating
The various debugging functions that true module realizes motion gait (include: motion demonstrating, gait generate, self study and many coordinations control
Deng).
The present invention compared with prior art has the following advantages:
1st, the present invention can respective emulation advantage based on matlab/simmechanics and adams, integrated associative simulation
Application, have the characteristics that the division of labor clearly, clear thinking, truly feasible, contribute to early stage theoretical research, be that later stage prototype experiment is adjusted
Examination provides accurate reference data.
2nd, the low cost of the present invention, to realize function many, basic cover traditional bionical legged type robot and control commissioning requirements, tool
There is certain general applicability.
3rd, the present invention controls debugging to provide a kind of new departure to bionical legged type robot, improves bionical legged type robot skill
Art efficiency of research and development, there is provided widened Simulation Application scope.
Brief description
Fig. 1 is that a kind of bionical legged type robot based on matlab, adams and half associative simulation in kind of the present invention is comprehensively imitative
True method block diagram.
Fig. 2 is to build mode flow chart based on matlab/simulink bionical legged type robot Controlling model in the present invention.
Fig. 3 is to be based on matlab/simmechanics bionical legged type robot Kinematics Simulation model buildings in the present invention
Mode flow chart.
Fig. 4 is to build mode flow chart based on adams bionical legged type robot kinetic model in the present invention.
Fig. 5 is bionical legged type robot experimental prototype operational flowchart in the present invention.
Above-mentioned in figure label title: a, be based on matlab/simulink bionical legged type robot Controlling model；B, it is based on
Matlab/simmechanics bionical legged type robot Kinematics Simulation model；C, be based on adams bionical legged type robot power
Learn model；D, bionical legged type robot experimental prototype；1st, sufficient end motion track and gait parameter；2nd, oint motion trajectory and gait
Data；3rd, Dynamic Co-Simulation output data；4th, motion gait and attitude data；5th, robot environment's perception and real time kinematics
Feedback data；6th, robot motion's gait data bag and coordination control instruction parameter.
In figure a and b ingredient belong to based on matlab bionical legged type robot software emulation environment, a, b and c composition portion
Belong to the bionical legged type robot software associative simulation environment based on computer controls platform.
Specific embodiment
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings:
In conjunction with Fig. 1,2,3, the present embodiment is a kind of bionical sufficient formula based on matlab, adams and half associative simulation in kind
Robot comprehensive simulating method block diagram, comprising: based on matlab/simulink bionical legged type robot Controlling model a, be based on
Matlab/simmechanics bionical legged type robot Kinematics Simulation model b, be based on adams bionical legged type robot power
Learn model c, bionical legged type robot experimental prototype d, sufficient end motion track and gait parameter 1, oint motion trajectory and gait number
According to 2；Dynamic Co-Simulation output data 3, motion gait and attitude data 4, robot environment's perception and real time kinematics feedback
Data 5, robot motion's gait data bag and coordination control instruction parameter 6.
Wherein it is based on matlab/simulink bionical legged type robot Controlling model and based on matlab/
Between simmechanics bionical legged type robot Kinematics Simulation model, inputoutput data is sufficient end motion track and gait
Parameter and oint motion trajectory and gait data；Based on matlab/simulink bionical legged type robot Controlling model be based on
Between adams bionical legged type robot kinetic model, inputoutput data is Dynamic Co-Simulation output data and motion step
State and attitude data；Sample is tested with bionical legged type robot based on matlab/simulink bionical legged type robot Controlling model
Between machine inputoutput data for robot environment's perception and real time kinematics feedback data and robot motion's gait data bag and
Coordinate control instruction parameter.
Wherein it is based on matlab/simulink bionical legged type robot Controlling model and based on matlab/
Simmechanics bionical legged type robot Kinematics Simulation model constitutes to be imitated based on matlab bionical legged type robot software
True environment；Based on matlab/simulink bionical legged type robot Controlling model, based on matlab/simmechanics bionical
Legged type robot Kinematics Simulation model and being constituted based on computer control based on adams bionical legged type robot kinetic model
The bionical legged type robot software associative simulation environment of platform processed.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, is wherein based on matlab/simulink bionical legged type robot Controlling model a and based on matlab/
Between simmechanics bionical legged type robot Kinematics Simulation model b, inputoutput data is sufficient end motion track and gait
Parameter 1 and oint motion trajectory and gait data 2；Based on matlab/simulink bionical legged type robot Controlling model a and base
Between adams bionical legged type robot kinetic model c, inputoutput data is Dynamic Co-Simulation output data 3 and fortune
Dynamic gait and attitude data 4；Based on matlab/simulink bionical legged type robot Controlling model a and bionical legged type robot
Between experimental prototype d, inputoutput data is robot environment's perception and real time kinematics feedback data 5 and robot motion's gait
Packet and coordination control instruction parameter 6.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, is wherein based on matlab/simulink bionical legged type robot Controlling model a and based on matlab/
Simmechanics bionical legged type robot Kinematics Simulation model b is constituted and is imitated based on matlab bionical legged type robot software
True environment；Based on matlab/simulink bionical legged type robot Controlling model a, based on matlab/simmechanics bionical
Legged type robot Kinematics Simulation model b and being constituted based on computer based on adams bionical legged type robot kinetic model c
The bionical legged type robot software associative simulation environment of control platform.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
The perception of method block diagram, wherein robot environment and real time kinematics feedback data 5 and robot motion's gait data bag and coordination control
Order parameter 6 processed carries out wireless transmission and reception by wireless device (as equipment such as wireless serial device, wireless wifi).
As shown in Figure 2 mode flow chart is built, first based on matlab/simulink bionical legged type robot Controlling model
It is configured (as internal system simulation algorithm type, week in matlab/simulink bionical legged type robot simulation system parameters
The parameter settings such as phase, step-length, range of error), then according to realize robot debugging needed for optionally set up based on matlab/
The bionical legged type robot motion demonstrating module of simulink, the bionical legged type robot based on matlab/simulink for the foundation
Motion gait control module, set up bionical legged type robot motion self-learning module based on matlab/simulink and foundation
Based on the bionical legged type robot coordinating control module of matlab/simulink, finally connect the bionical foot of matlab/simulink
Formula robot emulation system interface (include the input/output interface interconnection of data flow 1,2,3,4,5,6, carry out data exchange, association
Adjusting data is processed).
It is based on matlab/simmechanics bionical legged type robot Kinematics Simulation model buildings mode as shown in Figure 3
Flow chart, creates matlab/simmechanics bionical legged type robot Kinematics Simulation environment first and (includes system environmentss ginseng
Number sets), in matlab/simmechanics, then set up bionical legged type robot system world coordinate system (include pedestal
1st, pedestal 2 etc.), each lower limb movable joint (include joint freedom degrees number, direction etc.), each lower limb rod member rigid body parameter (include quality, used
Amount, length etc.), joint control type, joint sensors output type etc., require finally according to motion planning and robot control, draw
Go out the input in matlab/simmechanics bionical legged type robot Kinematics Simulation model and output interface (prepares to accept
Joint input data, transmission joint output data, carry out data exchange, realize kinematics operation function).
As shown in Figure 4 mode flow chart is built based on adams bionical legged type robot kinetic model, create first
Adams bionical legged type robot dynamics simulation environment (includes system environmentss parameter setting), then imports ground in adams
Rigid body, bionical legged type robot each lower limb rod member rigid body etc. (set rigid body physical dimension, material type or the ginseng such as density or quality
Number), then set joint freedom degrees number and joint type between each rigid body in adams, and set in adams each sufficient end with
The parameter setting of crash type, frictional constraint and correlation between the rigid body of ground, finally according to actual requirement, sets adams bionical
(preparation accepts joint input data, sends joint output for input in legged type robot Kinematics Simulation model and output interface
The data such as data and sufficient end impact force, carries out data exchange, realizes kinetics calculation function).
Bionical legged type robot experimental prototype operational flowchart as shown in Figure 5, bionical first legged type robot experimental prototype
Initialized (including systematic parameter initializing set etc.), then the control of bionical legged type robot experimental prototype wireless receiving upper strata
Command signal processed and gait data (including gait data, assignment instructions etc.), then carry out bionical legged type robot experimental prototype
Exercise testing, simultaneously in experimentation in real time by itself perception information wireless transmission of bionical legged type robot experimental prototype (such as
The attitude transducers such as gyroscope, accelerometer, magnetometer, joint angles and angular-rate sensor, sufficient end force transducer etc.) and imitative
(ultrasonic or infrared distance measurement, Machine Vision Recognition barrier divide raw legged type robot experimental prototype Context awareness information wireless transmission
Cloth, state of ground etc.) give computer controls platform.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order (d → 5 → a → 1 → b → 2 → a), the kinestate of achievable robot experimental prototype is real
When kinesiology demonstration.Concrete mode: bionical legged type robot experimental prototype d wireless transmission interface machine people's environment sensing is with real time
Motor feedback data 5 to based in matlab/simulink bionical legged type robot Controlling model a, based on matlab/
The sufficient end motion track of simulink bionical legged type robot Controlling model a transmission and gait parameter 1 arrive based on matlab/
In simmechanics bionical legged type robot Kinematics Simulation model b, and there is in matlab/simmechanics correlation
Kinematics of mechanism flash demo function, can show the kinestate of robot experimental prototype, the joint motions rail of correlation in real time
Mark and gait data 2 are transferred to based in matlab/simulink bionical legged type robot Controlling model a, carry out kinesiology number
According to collecting and preserve.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order (d → 5 → a → 4 → c → 3 → a), achievable robot experimental prototype kinestate is real-time
Kinetics are demonstrated.Concrete mode: bionical legged type robot experimental prototype d wireless transmission interface machine people's environment sensing and real-time fortune
Dynamic feedback data 5 to based in matlab/simulink bionical legged type robot Controlling model a, based on matlab/simulink
Bionical legged type robot Controlling model a transmission motion gait and attitude data 4 arrive based on adams bionical legged type robot kinetics
In model c, and there is in adams the mechanism dynamic flash demo function of correlation, robot experimental prototype can be shown in real time
Dynamics data, related Dynamic Co-Simulation output data 3 is transferred to based on the bionical sufficient formula machine of matlab/simulink
In human operator model a, carry out dynamics data and collect and preserve.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order (a → 1 → b → 2 → a → 4 → c → 3 → a), the pure virtual combination motion of achievable robot
Emulation.Concrete mode: sufficient end motion track and step are transmitted based on matlab/simulink bionical legged type robot Controlling model a
State parameter 1 arrives based on matlab/simmechanics bionical legged type robot Kinematics Simulation model b, through matlab/
After simmechanics emulation, oint motion trajectory and gait data 2 are aggregated into based on the bionical sufficient formula of matlab/simulink
Machine human operator model a, based on matlab/simulink bionical legged type robot Controlling model a by motion gait and attitude number
It is sent to based on adams bionical legged type robot kinetic model c according to 4, after adams dynamics simulation, by kinetics joint
Simulation data data 3 is aggregated into based on matlab/simulink bionical legged type robot Controlling model a, completes matlab/
The associated movement emulation of simmechanics and adams.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order (a → 1 → b → 2 → a → 6 → d), achievable robot gait generates, robot experiment
The real time kinematics of model machine control.Concrete mode: foot is transmitted based on matlab/simulink bionical legged type robot Controlling model a
End motion track and gait parameter 1 arrive based on matlab/simmechanics bionical legged type robot Kinematics Simulation model b,
After matlab/simmechanics emulation, oint motion trajectory and gait data 2 are aggregated into based on matlab/simulink
Robot is transported by bionical legged type robot Controlling model a based on matlab/simulink bionical legged type robot Controlling model a
Dynamic gait packet and coordinate control instruction parameter 6 be wirelessly sent to bionical legged type robot experimental prototype d, complete by
After matlab/simmechanics gait generates, data real-time control machine people's experimental prototype moves.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order (a → 1 → b → 2 → a → 4 → c → 3 → a → 6 → d), achievable robot gait life
The real time kinematics of the robot experimental prototype after one-tenth, simulating, verifying control.Concrete mode: bionical based on matlab/simulink
The sufficient end motion track of legged type robot Controlling model a transmission and gait parameter 1 arrive based on the bionical foot of matlab/simmechanics
Formula Kinematics simulation of robots model b, by oint motion trajectory and gait data 2 after matlab/simmechanics emulation
It is aggregated into based on matlab/simulink bionical legged type robot Controlling model a, based on the bionical sufficient formula of matlab/simulink
Motion gait and attitude data 4 are sent to based on adams bionical legged type robot kinetic model c by machine human operator model a,
After adams dynamics simulation, Dynamic Co-Simulation output data 3 is aggregated into based on the bionical foot of matlab/simulink
Formula machine human operator model a, completes the associated movement simulating, verifying of the generation of matlab/simmechanics gait and adams,
Again robot motion's gait data bag and coordination control instruction parameter 6 are wirelessly sent to bionical legged type robot experimental prototype d,
Complete by data real time control machine after the associated movement simulating, verifying of the generation of matlab/simmechanics gait and adams
Device people's experimental prototype moves, and more accurately achieves the motor control of robot experimental prototype.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order (a → 1 → b → 2 → a → 4 → c → 3 → a → a → 1 → b → 2 → a → 4 → c → 3
→ a), achievable Robot Virtual associative simulation self study adjustment.Concrete mode: based on the bionical foot of matlab/simulink
The sufficient end motion track of formula machine human operator model a transmission and gait parameter 1 arrive based on the bionical sufficient formula of matlab/simmechanics
Oint motion trajectory and gait data 2 are converged after matlab/simmechanics emulation by Kinematics simulation of robots model b
Always arrive based on matlab/simulink bionical legged type robot Controlling model a, based on the bionical sufficient formula machine of matlab/simulink
Motion gait and attitude data 4 are sent to based on adams bionical legged type robot kinetic model c, warp device human operator model a
After adams dynamics simulation, Dynamic Co-Simulation output data 3 is aggregated into based on the bionical sufficient formula of matlab/simulink
Machine human operator model a, completes the associated movement emulation of matlab/simmechanics and adams, by being based on
Self-learning module adjusting parameter in matlab/simulink bionical legged type robot Controlling model a, is continuously circulated emulation,
Finally realize virtual combination emulation self study adjustment, provide foundation for data-optimized and Self Adaptive Control.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order (a → 1 → b → 2 → a → 6 → d → 5 → a → a → 1 → b → 2 → a → 6 → d → 5
→ a), the HWIL simulation self study adjustment of achievable robot.Concrete mode: based on the bionical sufficient formula of matlab/simulink
The sufficient end motion track of machine human operator model a transmission and gait parameter 1 arrive based on the bionical sufficient formula machine of matlab/simmechanics
Oint motion trajectory and gait data 2 are collected after matlab/simmechanics emulation by device people Kinematics Simulation model b
To based on matlab/simulink bionical legged type robot Controlling model a, based on the bionical sufficient formula machine of matlab/simulink
Robot motion's gait data bag and coordination control instruction parameter 6 are sent to bionical legged type robot experiment by human operator model a
Model machine d, after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data 5 is aggregated into base
In matlab/simulink bionical legged type robot Controlling model a, complete a matlab/simmechanics and half in fact
The associated movement emulation of thing experimental prototype, by learning by oneself based in matlab/simulink bionical legged type robot Controlling model a
Practise module adjusting parameter, continuously circulated HWIL simulation, the final self study adjustment realized under half associative simulation in kind, be
Data-optimized and Self Adaptive Control provides foundation.
A kind of bionical legged type robot comprehensive simulating based on matlab, adams and half associative simulation in kind as shown in Figure 1
Method block diagram, such as according to flow process order ((a → 1 → b → 2 → a → 4 → c → 3)+(a → 6 → d → 5) → a → (a → 1 →
B → 2 → a → 4 → c → 3)+(a → 6 → d → 5) → a), coordinate achievable robot self adaptation to control more.Concrete mode:
Sufficient end motion track and gait parameter 1 are transmitted to being based on based on matlab/simulink bionical legged type robot Controlling model a
Matlab/simmechanics bionical legged type robot Kinematics Simulation model b, after matlab/simmechanics emulation
Oint motion trajectory and gait data 2 are aggregated into based on matlab/simulink bionical legged type robot Controlling model a, base
In matlab/simulink bionical legged type robot Controlling model a, motion gait and attitude data 4 are sent to based on adams
Bionical legged type robot kinetic model c, after adams dynamics simulation, Dynamic Co-Simulation output data 3 is aggregated into
Based on matlab/simulink bionical legged type robot Controlling model a.At the same time, based on the bionical foot of matlab/simulink
Formula machine human operator model a, robot motion's gait data bag and coordination control instruction parameter 6 are sent to bionical sufficient formula machine
People experimental prototype d, after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data 5 is converged
Always arrive based on matlab/simulink bionical legged type robot Controlling model a.Integrate Dynamic Co-Simulation output data 3 He
Real time kinematics feedback data 5, both data carry out complementary and self study regulation and control, complete in actual robot model machine lack part
Under conditions of heat transfer agent, realizing coordinating robot self adaptation to control by emulation data more.
Claims (5)
1. a kind of bionical legged type robot comprehensive simulating method based on matlab, adams and half associative simulation in kind, its feature
It is:
System for use in carrying includes: based on bionical legged type robot Controlling model (a) of matlab/simulink, is based on matlab/
Bionical legged type robot Kinematics Simulation model (b) of simmechanics, be based on adams bionical legged type robot kinetic model
(c), bionical legged type robot experimental prototype (d)；
Methods described includes the kinestate Real Time Kinematic presentation process of robot experimental prototype, concrete mode: bionical sufficient formula
Robot experimental prototype (d) wireless transmission interface machine people's environment sensing and real time kinematics feedback data (5) arrive based on matlab/
In bionical legged type robot Controlling model (a) of simulink, based on matlab/simulink bionical legged type robot Controlling model
A the sufficient end motion track of () transmission and gait parameter (1) arrive based on matlab/simmechanics bionical legged type robot kinesiology
In phantom (b), and there is in matlab/simmechanics the kinematics of mechanism flash demo function of correlation, show in real time
Show that the kinestate of robot experimental prototype, related oint motion trajectory and gait data (2) are transferred to based on matlab/
In bionical legged type robot Controlling model (a) of simulink, carry out kinematic data and collect and preserve；
Methods described includes robot experimental prototype kinestate Real-time dynamics presentation process, concrete mode: bionical sufficient formula machine
Device people's experimental prototype (d) wireless transmission interface machine people's environment sensing and real time kinematics feedback data (5) arrive based on matlab/
In bionical legged type robot Controlling model (a) of simulink, based on matlab/simulink bionical legged type robot Controlling model
A () transmission motion gait and attitude data (4) are transferred to based in bionical legged type robot kinetic model (c) of adams, and
There is in adams the mechanism dynamic flash demo function of correlation, the dynamics data of robot experimental prototype can be shown in real time,
Related Dynamic Co-Simulation output data (3) arrives based on bionical legged type robot Controlling model (a) of matlab/simulink
In, carry out dynamics data and collect and preserve；
Methods described includes robot pure virtual combination motion simulation process, concrete mode: bionical based on matlab/simulink
The sufficient end motion track of legged type robot Controlling model (a) transmission and gait parameter (1) are arrived and are imitated based on matlab/simmechanics
Raw legged type robot Kinematics Simulation model (b), by oint motion trajectory and gait after matlab/simmechanics emulation
Data (2) is aggregated into based on bionical legged type robot Controlling model (a) of matlab/simulink, based on matlab/simulink
Motion gait and attitude data (4) are sent to based on the bionical legged type robot of adams bionical legged type robot Controlling model (a)
Kinetic model (c), after adams dynamics simulation, Dynamic Co-Simulation output data (3) is aggregated into and is based on
Bionical legged type robot Controlling model (a) of matlab/simulink, completes the connection of matlab/simmechanics and adams
Resultant motion emulates；
Methods described includes robot gait generation, the real time kinematics control process of robot experimental prototype, concrete mode: be based on
The sufficient end motion track of matlab/simulink bionical legged type robot Controlling model (a) transmission and gait parameter (1) are to being based on
Bionical legged type robot Kinematics Simulation model (b) of matlab/simmechanics, through matlab/simmechanics emulation
Afterwards oint motion trajectory and gait data (2) are aggregated into based on matlab/simulink bionical legged type robot Controlling model
A (), based on bionical legged type robot Controlling model (a) of matlab/simulink by robot motion's gait data bag and coordination
Control instruction parameter (6) is wirelessly sent to bionical legged type robot experimental prototype (d), completes by matlab/
After simmechanics gait generates, data real-time control machine people's experimental prototype moves；
Methods described include robot gait generate, the real time kinematics control process of robot experimental prototype after simulating, verifying,
Concrete mode: sufficient end motion track and gait ginseng are transmitted based on bionical legged type robot Controlling model (a) of matlab/simulink
Number (1) arrives based on bionical legged type robot Kinematics Simulation model (b) of matlab/simmechanics, through matlab/
After simmechanics emulation, oint motion trajectory and gait data (2) are aggregated into based on the bionical foot of matlab/simulink
Formula machine human operator model (a), based on bionical legged type robot Controlling model (a) of matlab/simulink by motion gait and
Attitude data (4) is sent to based on bionical legged type robot kinetic model (c) of adams, after adams dynamics simulation, will
Dynamic Co-Simulation output data (3) is aggregated into based on bionical legged type robot Controlling model (a) of matlab/simulink,
Complete matlab/simmechanics gait generate and adams associated movement simulating, verifying, then by robot motion's gait
Packet and coordinate control instruction parameter (6) be wirelessly sent to bionical legged type robot experimental prototype (d), complete by
Data real-time control machine people experiment after the associated movement simulating, verifying of the generation of matlab/simmechanics gait and adams
Model machine moves, and more accurately achieves the motor control of robot experimental prototype；
Methods described includes Robot Virtual associative simulation self study adjustment process, concrete mode: based on matlab/simulink
Bionical legged type robot Controlling model (a) transmission foot end motion track and gait parameter (1) arrive based on matlab/
Bionical legged type robot Kinematics Simulation model (b) of simmechanics, by joint after matlab/simmechanics emulation
Movement locus and gait data (2) are aggregated into based on bionical legged type robot Controlling model (a) of matlab/simulink, are based on
Motion gait and attitude data (4) are sent to and are based on by bionical legged type robot Controlling model (a) of matlab/simulink
Bionical legged type robot kinetic model (c) of adams, after adams dynamics simulation, by Dynamic Co-Simulation output data
(3) it is aggregated into based on bionical legged type robot Controlling model (a) of matlab/simulink, complete a matlab/
The associated movement emulation of simmechanics and adams, by controlling mould based on the bionical legged type robot of matlab/simulink
Self-learning module adjusting parameter in type (a), is continuously circulated emulation, finally realizes virtual combination emulation self study adjustment, is
Data-optimized and Self Adaptive Control provides foundation；
Methods described includes robot HWIL simulation self study adjustment process, concrete mode: imitate based on matlab/simulink
Raw legged type robot Controlling model (a) transmission foot end motion track and gait parameter (1) arrive based on matlab/simmechanics
Bionical legged type robot Kinematics Simulation model (b), by oint motion trajectory and step after matlab/simmechanics emulation
State data (2) is aggregated into based on bionical legged type robot Controlling model (a) of matlab/simulink, based on matlab/
Bionical legged type robot Controlling model (a) of simulink by robot motion's gait data bag and coordinates control instruction parameter (6)
Be sent to bionical legged type robot experimental prototype (d), after robot experimental prototype exercise testing, by robot environment perception and
Real time kinematics feedback data (5) is aggregated into based on bionical legged type robot Controlling model (a) of matlab/simulink, completes
The associated movement emulation of matlab/simmechanics and half full-scale investigation model machine, by based on matlab/simulink
In bionical legged type robot Controlling model (a), self-learning module adjusting parameter, is continuously circulated HWIL simulation, final realization
Self study adjustment under half associative simulation in kind, provides foundation for data-optimized and Self Adaptive Control；
Methods described includes coordinating control process robot self adaptation more, concrete mode: based on the bionical foot of matlab/simulink
The sufficient end motion track of formula machine human operator model (a) transmission and gait parameter (1) arrive bionical based on matlab/simmechanics
Legged type robot Kinematics Simulation model (b), by oint motion trajectory and gait number after matlab/simmechanics emulation
It is aggregated into based on bionical legged type robot Controlling model (a) of matlab/simulink according to (2), imitated based on matlab/simulink
Motion gait and attitude data (4) are sent to by raw legged type robot Controlling model (a) to be moved based on the bionical legged type robot of adams
Mechanical model (c), after adams dynamics simulation, Dynamic Co-Simulation output data (3) is aggregated into based on matlab/
Bionical legged type robot Controlling model (a) of simulink；At the same time, based on the bionical legged type robot of matlab/simulink
Controlling model (a), robot motion's gait data bag and coordination control instruction parameter (6) is sent to bionical legged type robot real
Test model machine (d), after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data (5) are converged
Always arrive based on bionical legged type robot Controlling model (a) of matlab/simulink；Integrate Dynamic Co-Simulation output data
(3) and real time kinematics feedback data, both data carry out complementary and self study regulation and control, complete in actual robot model machine disappearance
Under conditions of part heat transfer agent, realizing coordinating robot self adaptation to control by emulation data more.
2. the bionical legged type robot based on matlab, adams and half associative simulation in kind according to claim 1 is comprehensive
Emulation mode it is characterised in that: described based on matlab/simulink bionical legged type robot Controlling model (a) side of building
Formula, concrete mode: internal system simulation algorithm is set first in matlab/simulink bionical legged type robot analogue system
Type, cycle, step-length, the parameter of range of error, are based on then according to realizing optionally setting up needed for robot debugging
The bionical legged type robot motion demonstrating module of matlab/simulink, the bionical sufficient formula based on matlab/simulink for the foundation
Robot motion's gait control module, the bionical legged type robot motion self-learning module based on matlab/simulink for the foundation
With the bionical legged type robot coordinating control module set up based on matlab/simulink, finally connect matlab/simulink
Bionical legged type robot analogue system interface, carries out data exchange, and coordination data is processed.
3. the bionical legged type robot based on matlab, adams and half associative simulation in kind according to claim 1 is comprehensive
Emulation mode it is characterised in that: described based on matlab/simmechanics bionical legged type robot Kinematics Simulation model
B () builds mode, concrete mode: create matlab/simmechanics bionical legged type robot Kinematics Simulation environment first,
Initialization system ambient parameter, then sets up bionical legged type robot system world coordinate system in matlab/simmechanics
With number of degrees of freedom, and the direction of each lower limb movable joint, arrange and include quality, inertia, each lower limb rod member rigid body parameter of length, joint
Controller type, joint sensors output type, require finally according to motion planning and robot control, draw matlab/
Input in simmechanics bionical legged type robot Kinematics Simulation model and output interface, prepare to accept joint input number
According to send joint output data, carry out data exchange, realize kinematics operation function.
4. the bionical legged type robot based on matlab, adams and half associative simulation in kind according to claim 1 is comprehensive
Emulation mode it is characterised in that: described builds mode based on bionical legged type robot kinetic model (c) of adams, specifically side
Formula: create adams bionical legged type robot dynamics simulation environment, initialization system ambient parameter first, then lead in adams
Enter ground rigid body, bionical legged type robot each lower limb rod member rigid body, set rigid body physical dimension, material type or density or quality ginseng
Number, then set joint freedom degrees number and joint type between each rigid body in adams, and set in adams each sufficient end with
The parameter setting of crash type, frictional constraint and correlation between the rigid body of ground, finally according to actual requirement, sets adams bionical
Input in legged type robot Kinematics Simulation model and output interface, prepare to accept joint input data, send joint output
Data and sufficient end collision force data, carry out data exchange, realize kinetics calculation function.
5. the bionical legged type robot based on matlab, adams and half associative simulation in kind according to claim 1 is comprehensive
Emulation mode it is characterised in that: described bionical legged type robot experimental prototype (d) operating process, concrete mode: bionical first
Legged type robot experimental prototype (d) is initialized, and sets and includes system initialization parameter, then bionical legged type robot experiment
Model machine (d) wireless receiving upper strata task control command signal and gait data, then carry out bionical legged type robot experimental prototype
D () exercise testing, simultaneously the attitude biography perceiving bionical legged type robot experimental prototype (d) itself in real time in experimentation
Sense, joint angles, the infrared distance measurement of angular velocity, sufficient end force information and bionical legged type robot experimental prototype (d) Context awareness, machine
Device visual identity distribution of obstacles, state of ground information are wirelessly sent to computer controls platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410064577.9A CN103832504B (en) | 2014-02-26 | 2014-02-26 | Bionic foot-type robot comprehensive simulation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410064577.9A CN103832504B (en) | 2014-02-26 | 2014-02-26 | Bionic foot-type robot comprehensive simulation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103832504A CN103832504A (en) | 2014-06-04 |
| CN103832504B true CN103832504B (en) | 2017-01-25 |
Family
ID=50796480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410064577.9A Expired - Fee Related CN103832504B (en) | 2014-02-26 | 2014-02-26 | Bionic foot-type robot comprehensive simulation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103832504B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104950689A (en) * | 2015-04-13 | 2015-09-30 | 哈尔滨工业大学深圳研究生院 | Robot actor simulation system for robot dramas |
| CN105654836B (en) * | 2016-02-01 | 2018-03-16 | 北京理工大学 | Ball shape robot comprehensive simulating method based on SolidWorks, ADAMS environment |
| CN107290957A (en) * | 2016-03-31 | 2017-10-24 | 深圳光启合众科技有限公司 | Smart machine and its optimization method and equipment |
| CN107283386A (en) * | 2017-05-27 | 2017-10-24 | 江苏物联网研究发展中心 | Man-machine synchronous method |
| CN109086466A (en) * | 2017-06-14 | 2018-12-25 | 深圳市祈飞科技有限公司 | Single leg multiaxis biped robot kinematics joint simulation method |
| CN111381514A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot testing system and method based on semi-physical simulation technology |
| CN109726511B (en) * | 2019-01-23 | 2022-10-28 | 广西大学 | UG and ADAMS based gait rehabilitation robot joint angle determination method |
| CN114932961B (en) * | 2022-06-15 | 2023-10-10 | 中电海康集团有限公司 | Motion control system of four-foot robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1289665A (en) * | 1999-09-07 | 2001-04-04 | 索尼公司 | Robot and joint unit |
| EP1118436A1 (en) * | 1999-04-05 | 2001-07-25 | Sony Corporation | Robot, servo circuit, actuator, robot control method, and actuator control method |
| CN102431033A (en) * | 2010-08-31 | 2012-05-02 | 株式会社安川电机 | Robot, robot system, robot control device, and state determining method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3555107B2 (en) * | 1999-11-24 | 2004-08-18 | ソニー株式会社 | Legged mobile robot and operation control method for legged mobile robot |
| JP2002301674A (en) * | 2001-04-03 | 2002-10-15 | Sony Corp | Leg type moving robot, its motion teaching method and storage medium |
| JP3646169B2 (en) * | 2002-05-07 | 2005-05-11 | 独立行政法人産業技術総合研究所 | Walking controller for legged robot |
-
2014
- 2014-02-26 CN CN201410064577.9A patent/CN103832504B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1118436A1 (en) * | 1999-04-05 | 2001-07-25 | Sony Corporation | Robot, servo circuit, actuator, robot control method, and actuator control method |
| CN1289665A (en) * | 1999-09-07 | 2001-04-04 | 索尼公司 | Robot and joint unit |
| CN102431033A (en) * | 2010-08-31 | 2012-05-02 | 株式会社安川电机 | Robot, robot system, robot control device, and state determining method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103832504A (en) | 2014-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103832504B (en) | Bionic foot-type robot comprehensive simulation method | |
| Stanton et al. | Teleoperation of a humanoid robot using full-body motion capture, example movements, and machine learning | |
| Costa et al. | Simtwo realistic simulator: A tool for the development and validation of robot software | |
| CN105437209B (en) | A kind of dermaskeleton type upper limb rehabilitation robot with human-computer interaction kinetic model | |
| CN103926845B (en) | The ground simulation system of robot for space visual servo capture movement target and analogy method | |
| CN108058758B (en) | Robot biped walking simulation evaluation system and evaluation method based on six-degree-of-freedom leg | |
| Dallali et al. | Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach | |
| CN105818129A (en) | Humanoid hand control system based on data glove | |
| CN106527177A (en) | Multi-functional and one-stop type remote control design, the simulation system and method thereof | |
| CN106078752A (en) | Method is imitated in a kind of anthropomorphic robot human body behavior based on Kinect | |
| CN105539890A (en) | Device and method for simulating space mechanical arm to capture ground three-dimensional space microgravity of target satellite | |
| CN105404744B (en) | A kind of space manipulator total state dynamics semi-physical system | |
| CN107256284A (en) | A kind of many gait dynamic modeling methods of real-time interactive quadruped robot and system | |
| CN108908298A (en) | A kind of master-slave mode spray robot teaching system merging virtual reality technology | |
| Tejado et al. | Low-cost hardware-in-the-loop testbed of a mobile robot to support learning in automatic control and robotics | |
| CN108422421A (en) | The muscle of skeletal muscle formula robot controls and assembly method | |
| CN106389072A (en) | Virtual reality interactive system and method of five-degree-of-freedom upper limb rehabilitation robot | |
| CN107214679A (en) | Mechanical arm man-machine interactive system based on body-sensing sensor | |
| CN100435050C (en) | Control method for acrobatic motion of pendulums of under-actuated double pendulum system | |
| CN109987170A (en) | A kind of anthropomorphic robot lower devices based on cylinder | |
| Wang et al. | Configuration and Motion Simulation of Multi-Legged Walking Robots with Hand-Food-Integrated Mechanism Arm | |
| Castañeda et al. | A low-cost Matlab-based educational platform for teaching robotics | |
| Haiderbhai et al. | Robust Sim2Real transfer with the da vinci research kit: A study on camera, lighting, and physics domain randomization | |
| CN113608451A (en) | Simulation control platform based on ROS and exoskeleton robot simulation control system | |
| Setapen et al. | Beyond teleoperation: Exploiting human motor skills with marionet |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170125 |