| 基于Java 3D的仿人型机器人三维仿真 |
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| 引用本文： | 孙毅军,余蕾斌,邱长伍,曹其新.基于Java 3D的仿人型机器人三维仿真[J].上海交通大学学报,2007,41(8):1287-1291. |
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| 作者姓名： | 孙毅军 余蕾斌 邱长伍 曹其新 |
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| 作者单位： | 上海交通大学,机器人研究所,上海,200240 |
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| 摘 要： | 针对Java 3D中虚拟机器人的树状结构特点,提出一种由机器人运动学导出的矩阵变换方法,使机器人左、右脚均可动态地成为树状结构的"根结点".根据该方法编写的虚拟机器人驱动程序,并采用单线程机制,可以驱动虚拟机器人各关节平滑运动.最后,在仿人型机器人的图形化编程仿真平台上实现了虚拟机器人的行走动作.
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| 关 键 词： | 仿人型机器人 三维仿真 运动学 |
| 文章编号： | 1006-2467（2007）08-1287-05 |
| 修稿时间： | 2006-07-10 |
Tri-Dimensional Simulation of Humanoid Robot Based on Java 3D Technology |
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| SUN Yi-jun,YU Lei-bin,QIU Chang-wu,CAO Qi-xin.Tri-Dimensional Simulation of Humanoid Robot Based on Java 3D Technology[J].Journal of Shanghai Jiaotong University,2007,41(8):1287-1291. |
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| Authors: | SUN Yi-jun YU Lei-bin QIU Chang-wu CAO Qi-xin |
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| Institution: | Research Inst. of Robotics, Shanghai Jiaotong Univ., Shanghai 200240, China |
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| Abstract: | A method of matrix transformation derived from robot kinematics was provided according to the characteristic of virtual robot's tree structure in Java 3D.And it makes both left foot and right foot of the virtual robot be the "root" node of tree structure in turn dynamically.Based on the method,a virtual (robot's) drive was developed in single thread,making the virtual robot move smoothly.At last,the walking motion was realized on a graphic programming and simulation platform that supports the humanoid robot. |
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| Keywords: | Java 3D |
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