A Simulation System with Simplified Dynamics Model of Biped Robot

被引：0
|
作者：
Manokhatiphaisan, S. [1 ]
Maneewarn, T. [1 ]
机构：
[1] King Mongkuts Univ Technol, Inst Field Robot FIBO, Bangkok 10140, Thailand
来源：
PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE OF MODELLING AND SIMULATION (ICMS2011), VOL 2 | 2011年
关键词：
humanoid robot; physical-based simulation; sim-plified dynamics model;
D O I：
暂无
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
This research proposed a physical-based simulation system that used a three-mass linear inverted pendulum model (3MLIPM) to represented the biped robot. The simplified dynamics model is the important factor in developing the real-time walking control system for the biped robot. The proposed simulation system was implemented in Python. The experiment was performed to validate that the simulation system can successfully represented the actual robot system especially when the stability of robot is concerned.
引用
收藏
页码：12 / 17
页数：6
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