| 仿人机器人三维实时仿真系统的研究与实现 |
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| 引用本文： | 甘志刚,肖南峰. 仿人机器人三维实时仿真系统的研究与实现[J]. 系统仿真学报, 2007, 19(11): 2444-2448,2518 |
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| 作者姓名： | 甘志刚 肖南峰 |
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| 作者单位： | 华南理工大学计算机科学与工程学院,广州,510641 |
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| 摘 要： | 利用仿真来研究、分析和检验仿人形机器人在步行过程中的受力,对于改进和提高它的步行控制方法具有非常重要的意义。本文首先介绍了作者用OpenGL图形库开发仿人形机器人三维实时仿真系统和全方位观测技术,然后通过分析环境作用力对机器人的影响,提出了在点支撑、线支撑和面支撑三种模式下,机器人的平衡条件和失稳时翻转的旋转轴及旋转速度的求解方法;最后将上述方法应用到机器人三维实时仿真系统中,实现了仿人形机器人控制的可视化,为仿人形机器人研究提供了强有力的手段。
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| 关 键 词： | 仿人形机器人 仿真 全方位观测 环境作用力 |
| 文章编号： | 1004-731X（2007）11-2444-05 |
| 收稿时间： | 2006-04-29 |
| 修稿时间： | 2006-04-292006-07-25 |
Research and Implementation of 3D Simulation System for Biped Humanoid Robot |
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| GAN Zhi-gang,XIAO Nan-feng. Research and Implementation of 3D Simulation System for Biped Humanoid Robot[J]. Journal of System Simulation, 2007, 19(11): 2444-2448,2518 |
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| Authors: | GAN Zhi-gang XIAO Nan-feng |
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| Affiliation: | School of Computer Science and Engineering, South China University of Technology, Guangzhou 510641, China |
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| Abstract: | It is very significant for improving the control algorithms of a humanoid robot by simulating motions of the humanoid robot in real-time, A 3D simulation system was implemented based on OpenGL for the biped humanoid robot, and a way of omnibearing observation.was proposed After analysing the environment force effection during the motion of the humanoid robot, a set of balance formula at point-support mode, line-support mode and area-support mode was devloped, and an algorithm for getting rotation axis and rate was developed when the robot loses the balance, The simulational results confirm the effectiveness of the presented forrmulas and algorithms, |
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| Keywords: | OpenGL |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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