两足机器人SimMechanics建模.pdf

44 7 浙　江　大　学　学　报 () Vol.44 No.7 2010 7 Journal of Z hej iang University (Engineering Science) J ul.2010 DOI:10.3785/j .issn.1008-973X .20 10.07.023 SimMechanics 徐生林, 刘艳娜 ( , 3 10018 ) 　:, .、、 , . ., , .M atlab Sim- M echanics , . , . :;SimM echanics ; :T P 242.6 　　　　:A　　　　　:1008 973X(2010)07 136 1 07 Modeling of biped robot by SimMechanics XU Sheng-lin, LIU Yan-na (S choo l of A utom ation, H angz hou D ianz i Un iversity , H angz hou 3 100 18, Ch ina ) Abstract:The biped robots computer m odel w as built, and the overall simulatio n of the robot movement w as conducted.Because of the complexity of the biped robots m athematical description and the difficulties of w alking robots dy namic character analysis, m ost biped robots used the m odel-based co ntrol metho d to m odel itself and the surrounding environment.The real-time property of the controllers com puting w as difficult to be guaranteed and controlled under the complex model.Then the robot s performance w as limited .The Sim Mechanics of M atlab toolbox w as used to build the co mputer model of the biped robot and conduct the robot overall movement simulatio n.The simulatio n proved the reasonability of the m odel, and the robots m ovement simulatio n figures w ere obtained . Key words:biped robot;SimM echanics toolbox;gait sim ulation 　　,, ,、, . ,, 、、、 ,. , [1] .19 60 , . ,10 , , [2] [3] , . . , 、; .