Motion Simulation and Analysis of the Biped Robot

被引：0
|
作者：
Xu, Ying [1 ]
Duan, Shouyong [2 ]
Lei, Yachao [1 ]
机构：
[1] Nanchang Hangkong Univ, Minist Educ, Key Lab Nondestruct Testing, Nanchang 330063, Peoples R China
[2] Univ Yamanashi, Informat & Mech Syst Engn, Yamanashi 4008510, Japan
来源：
FRONTIERS OF MANUFACTURING SCIENCE AND MEASURING TECHNOLOGY II, PTS 1 AND 2 | 2012年 / 503-504卷
关键词：
Biped robot; Dynamic performance; Track center of gravity; Data analysis;
D O I：
10.4028/www.scientific.net/AMR.503-504.82
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A new idea, method and technology are provided for research on complex kinematics and dynamics of a biped robot using computer simulation technology. The virtual prototype of the biped robot, created by Pro/ENGINEER, is put into ADAMS and setting material, fixed joints, revolute joints, contact forces, frictions, torque and gravity are implemented for the virtual prototype to carry out dynamics simulation. The calculation of testing curve is conducted with ADAMS/PostProcessor to acquire trajectory curve of each component of mass center for the biped robot with respect to time. The trajectory curve is imported into Matlab to get space trajectory curve of mass center and its parameterized equation through functional curve fitting trajectory curve.
引用
收藏
页码：82 / +
页数：2
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