Dynamic gait simulation model and method of robot

A simulation model and simulation method technology, applied in the field of robotics, can solve problems such as prototype damage, reduce algorithm development progress, etc., to reduce development costs and improve development efficiency.

Active Publication Date: 2020-02-28
INST OF INTELLIGENT MFG TECH JITRI
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Problems solved by technology

[0003] If in the early stage of research and development, all system algorithms are tested on the computer, on the on...

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  • Dynamic gait simulation model and method of robot
  • Dynamic gait simulation model and method of robot
  • Dynamic gait simulation model and method of robot

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Embodiment Construction

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0022] Such as figure 1 As shown, the dynamic gait simulation model of the robot in the embodiment of the present invention includes an initial posture adjustment module 10, a fuselage state detection module 20, a standing step module 30, a lateral stepping module 40 and an ADAMS interaction module 50, wherein the ADAMS interaction Module 50 links to each other with initial attitude adjustment module 10, fuselage state detection module 20, stagnation module 30...

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Abstract

The invention discloses a dynamic gait simulation model and method of a robot. The dynamic gait simulation model comprises an initial posture adjustment module, a fuselage state detection module, an in-situ stepping module, a lateral stepping module and an ADAMS interaction module. The ADAMS interaction module is connected with the initial posture adjustment module, the fuselage state detection module, the in-situ stepping module and the lateral stepping module, and the fuselage state detection module is connected with the initial posture adjusting module, the in-situ stepping module and the lateral stepping module. The feasibility of a quadruped algorithm can be effectively verified so that the development cost of the quadruped algorithm can be reduced and the development efficiency of the quadruped algorithm can be enhanced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a dynamic gait simulation model of a robot and a dynamic gait simulation method of a robot. Background technique [0002] The quadruped bionic robot has a high degree of movement autonomy. In a complex unstructured environment, it can independently implement various movements with only a small amount of manual intervention, and can make appropriate adjustments independently according to changes in the terrain environment. , Intuitively, it has the same response and resilience as quadrupeds or humans. However, in the process of movement, it is almost impossible to implement specific action instructions manually, so it is necessary to use a fully developed motion control system to generate corresponding action instructions to meet the needs of different terrain conditions. [0003] If in the early stage of research and development, all system algorithms are tested on the computer, ...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 张佳丽骆敏舟范向路陈云川
Owner INST OF INTELLIGENT MFG TECH JITRI
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