Study on Simulation for Humanoid Robot

摘要：

A formulation based on Danevit-Hartenberg was educed for the dynamics and kinematics equation, the virtual model of humanoid robot based on Pro/ENGINEER was developed. The simulator, which is the virtual counterpart of the hardware robot platform for humanoid robotics, can emulate the dynamics of the robots and test the control algorithms.The controller can handle a dynamic balance control, a biped locomotion and trajectory planning etc. A large number of simulations were done and the joint campaign curve of Humanoid Robots arm doing a particular action was given. The experiment proved that the method was effective and feasible. Thus, the foundation was laid for the next phase of the control algorithm research.

作者: Xing-qiao Deng Jin-ge Wang Wei-bin Zhu

作者单位: School of Mechanical Engineering and Automation, Xihua University, Chengdu, 610039, China School of School of Mechanical Engineering and Automation, Xihua University, Chengdu, 610039, China

会议类型: 国际会议

会议名称: International Conference on Intelligent Computation Technology and Automation(2008 智能计算技术与自动化国际会议 ICICTA 2008)

会议地点: 长沙

会议语种:英文

页码: 732-735

在线出版日期: 2008-10-20（万方平台首次上网日期，不代表论文的发表时间）