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Real-time simulation system for under-driven double-feet walking robot

A walking robot and real-time simulation technology, applied in the system field of the simulation technology field, can solve the problems of no function, no system, etc., and achieve the effect of complete functions, convenient operation, and convenient modification

Inactive Publication Date: 2009-07-29
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] After searching the literature of the prior art, it is found that there are many software and platforms that can complete the functions of the modules, or complete the joint simulation and real-time control functions alone, but none of them constitute a system, and there is no simulation system of the present application in operation. Convenient, functionally not as comprehensive as the simulation system of this application

Method used

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  • Real-time simulation system for under-driven double-feet walking robot
  • Real-time simulation system for under-driven double-feet walking robot
  • Real-time simulation system for under-driven double-feet walking robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] This embodiment is used for real-time control of an underactuated biped walking robot and debugging of a control algorithm, and the involved components include a physical robot and a real-time control module.

[0052] In this embodiment, the underactuated biped walking robot simulation system uses a real-time control module to complete the real-time control of the robot, and the system structure diagram for realizing real-time control is shown in Figure 4 shown.

[0053] In the control and debugging experiment of the physical underactuated robot, the test mainly carries out the design of the control algorithm and the analysis of the test data. The modification and addition of the algorithm bring convenience to the analysis. The modification method is to open the development code of the real-time control platform on the VC software platform, and to Add or modify the control algorithm in the real-time control algorithm module, compile the code, get the real-time control ...

Embodiment 2

[0061] This embodiment is used for the joint simulation analysis of the underactuated biped walking robot. The components involved include a real-time control platform, a co-simulation platform, and a mechatronics system simulation platform.

[0062] Using the controller simulation module, the kinematics-dynamic modeling and numerical simulation of the underactuated biped walking robot with knee joints are carried out, and the posture restoration algorithm is used to reconstruct the kinematics process of the robot's walking. The solver is the calculation core of the simulation software. It is responsible for solving the dynamic equation of the robot’s walking to obtain the gait data of the robot. The computer communication interface is used to realize the two-way communication and control connection with the robot prototype. The man-machine interface is responsible for receiving the simulation parameters. Set up, and transmit parameters and control commands to the background m...

Embodiment 3

[0068] This embodiment is used for the joint simulation analysis of the underactuated biped walking robot. The components involved include a co-simulation platform and a mechatronics system simulation platform.

[0069]In the virtual prototype simulation module of the mechatronics system simulation platform, the parameters of the robot virtual prototype model are matched and adjusted, and the controller is designed in the controller simulation module. The forms of the controller are various, and the output of the controller is calculated by the algorithm. , forming a closed-loop control, but it can also be the gait data directly imported by the controller, which is an open-loop control. During co-simulation, the controller simulation module and the virtual prototype simulation module work at the same time, and there is real-time data transmission between them, and the dynamic solution and controller response output are completed collaboratively. Co-simulation is carried out t...

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Abstract

The invention relates to the field of simulation technology and provides and realizes a real-time simulation system of an under-actuated biped walking robot. The real-time simulation system consists of a plurality of basic platforms and mainly comprises a real-time control platform, a joint simulation platform and a mechanical-electrical integration system simulation platform. The real-time simulation system is characterized in that the real-time control platform is directly connected with a solid robot drive system to control the movement of the robot in real time, the real-time control platform is connected with the joint simulation platform and is capable of carrying out data transmission, the joint simulation platform is connected with the mechanical-electrical integration system simulation platform to complete real-time joint simulation analysis, and each platform consists of different functional modules which are connected by data link. Real-time control algorithm design, virtual prototype design of an under-actuated walking robot, controller design, real-time joint simulation and experimental result analysis can be performed based on the real-time simulation system, and the real-time simulation system completes various operation tasks by the man-machine interface.

Description

technical field [0001] The invention relates to a system in the technical field of simulation, in particular to an underactuated biped walking robot simulation system. It involves mechanical system dynamics analysis, control science and engineering, virtual design and manufacturing, computer science and software engineering, data processing, etc. It is mainly used for mechanical structure design, dynamics analysis, control algorithm development and control of underactuated walking robots The robot performs real-time control and online debugging. Background technique [0002] The research and development of underactuated biped robot mainly has two aspects: real-time control and simulation test. [0003] Real-time control is to complete the actual control of the physical robot and record data, focusing on test debugging and algorithm research. The main task of the underactuated robot control system is to control the posture of the robot when it is walking by controlling the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06T15/70G05B19/18
Inventor 隋振田彦涛肖家栋陈鸿帅张佩杰崔相吉刘振泽卢辉遒李建飞
Owner JILIN UNIV
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