基于虛擬樣機技術的仿人步行機器人仿真系統(tǒng)研究.pdf

1、哈爾濱工業(yè)大學碩士學位論文基于虛擬樣機技術的仿人步行機器人仿真系統(tǒng)研究姓名：關明輝申請學位級別：碩士專業(yè)：控制工程指導教師：麻亮20050301一一。==：。：：：：：：：絲堡墜塑些簍圣：?！唬?：：一=：一AbstractAsoneofthemovingstylesofhumanbeingsandmostanimals，walkinghasthefeaturesofsuperflexibilityandadaptability，at

2、thesametimeitisthemostcomplicatedanddifficulttocontr01Inordertomodifythefaultofdesigninginthecomputer，simulatingandtestingthedifferencedesignscheme，analysisandappraisesystematicperformanceHence，thesimulationbasedondummyp

3、rototypehasbecomeoneofthesignificantwaytoplanningthegaitofthebipedrobot，designingthesignificantparameterandcuttingdowncostTheresearchagainstthesystemofHITIVbipedrobot，proceedsimulatingtogetherwithdynamicsandcontrolsystem

4、，andexpatiatedthecontentandprocessFirst，introducesthestructureoftheHITIVbipedrobot，andestablishsthemathematicalmodelOnthisbase，inversekinematicalgorithmisdeducedSoasyntheticalmethodofgeometriesandanalysiscanbeobtainedacc

5、ordingtotherobot’SstructureThismethodhasbetteraccuracyandoperationefficiencyandcaneliminateredundantsolutionseffectively，SOitCaDsupplytheoryfoundationforemulatingcontrolsystemanddesigningtheparameterEstablishcomplexthree

6、dimensionalmodes，kinematicsmodelanddynamicsmodelwithPro／EandmatlabdesignthecompoundedsimulatesystemwithquadrupedbetweenMaUabandAdamsUsedtheestablishedsimulatingsystem，simulatethekinematicsanddynamicsoftheHITIVbipedrobot，

7、andverifycontrollerparameters’rational姆oftheHITIVbipedrobotandproduceaseriesofoptimizedgaitplanningdataTheresultsofsimulationshowthatcontrolsystemandthegaitplanningdataarefeasibleKeywords：DummyPrototype，BipedRobot，Simula