Bionic foot-type robot comprehensive simulation strategy

Abstract

The invention discloses a bionic foot-type robot comprehensive simulation strategy, and belongs to the field of robot technology application. According to the bionic foot-type robot comprehensive simulation strategy, an adopted system comprises a Matlab/Simulink-based bionic foot-type robot control model (A), a Matlab/SimMechanics-based bionic foot-type robot kinematical simulation model (B), an ADAMS-based bionic foot-type robot dynamical model (C) and a bionic foot-type robot experimental prototype (D). The comprehensive simulation strategy comprises a real-time kinematical and dynamical demonstration method for the motion state of the robot experimental prototype, a real-time motion control method, used after simulation verification is generated according to robot gaits, for the robot experimental prototype, a self-learning adjusting method for robot virtual joint simulation and semi-physical simulation, and a robot self-adaptability multi-coordination control method. The bionic foot-type robot comprehensive simulation strategy has the advantages of being low in cost and multifunctional, basically meets the requirement for simulation debugging of a traditional bionic foot-type robot, and has the certain general applicability.

Description

technical field [0001] The invention belongs to the application field of robot technology, and specifically relates to a comprehensive simulation strategy of a bionic legged robot based on Matlab, ADAMS and semi-physical joint simulation, which is mainly used in motion demonstration, gait generation, self-learning and multi-coordination control of a bionic legged robot . Background technique [0002] Bionic footed robot is one of the most cutting-edge topics in the field of robot research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, reflecting a country's intelligence and automation research. At the same time, as an important symbol of a country's high-tech strength, developed countries have invested heavily in research in this field. [0003] Compared with wheeled and tracked robots, bionic legged robots have superior mobility and can adapt to complex and changeable unst...

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Problems solved by technology

[0004] Since each simulation software has its own advantages and disadvantages, two simulation software are also used for joint simulation (for example, Liu Xiaocheng et al. published a joint simulation analysis of imitation crab robot based on MATLAB and ADAMS single foot ("Microcomputer Information" 2010 No. 14) ), but the results of pure virtual co-simulation are often quite different from the actual experimental data, and do not have certain practical guiding significance; a single half-physical simulation based on half-physical simulation boards not only relies on existing high-tech integrated hardware and software ( High cost, poor adaptability to bionic legged robot motion control debugging, etc.), and not compatible with other virtual simulation software

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