基于scs的四足仿生机器人运动仿真平台.PDFVIP

第 39 卷tf; 4 !Vi 北京交通大学学报 VI.39 :--.!.4 八ug， 20Li 2Ql~_ J，t且JJ JDUE~ÙJ，c ()EJjUJI旦C;JV气iXl工201(; lr~IYI~I，ç ~lrY 文章编号: 1673-02川 (20 15) DO!: !O. 门N6()/j 町f 1. ICJ73 029].2 1) 15 04. [)()5 基于 scs 的四足仿生机器人运动仿真平台 张秀丽，龚加庆9 刘 虎 (北京交通大学机械i~ r毡 f控制 1 科学院，~ltJ;~ !O()044) 摘 要: SCS( Simulatio口 Construction Sct) 是 Yobotics 公司开发的对机械设备、仿生机械系统等复 杂的多刚体系统进行运动仿具的软件包-基于 SCS 开发出一套面向四足仿生机器人的专用运动仿 真平台，包括四足仿生机器人机构建模、基于 VMC(Virtual Model Control)的动力学建模、地面接触 模型及环境建模和数据处理提块设计.利用该仿真平台对一款 16 自由度四足仿生机器人的动态行 走进行了仿真.结果表明:仿真过程流畅、快速、机器人行走平稳，验证了该仿真平台的实用性和可 靠性. 关键词:四足仿生机器人;仿真平台;运动仿真;仿真开发包 中图分类号:TP242.6 文献标志码:A SCS based simulation platform for quadruped bionic robots ZHANG Xiuli , GONC Jiaqù眩， LIU Hu (Sch∞1 of Mechanical ,Electronic and Control Engineeri吨， Beijing Jiaotong University , Beijing ]00044 , China) Abstract: SCC; is a movement simulation software package developed by Yobotics , used for complicated multi-rigid-body systems such as mechanical devices bionic mechanical systcms , ctc. 1n this papcr , we developed a SCS based simulation platform specially for quadruped bionic robots. The simulation plat- fo口丑 includes mechanical modeling VMC based dynamics modeling , ground contact/environment mod eling and data processing module. Walking simulations of a 16 OOF (Degree of Fr巳edom) quadruped bionic robot were conducted using this simulation platform. The simulation is sm∞th and fast and the robot completed the walking successfully. The results prove the practicability and reliability of the s