Robot motion generation method based on physics engine

Abstract

The invention discloses a physical engine-based robot action generation method. The method comprises the following steps of obtaining a robot model by 3D modeling and constructing a simulated ground environment by utilizing a physical engine; setting a weight, gravitational acceleration and a plane friction coefficient of the robot model, and putting the robot model in the simulated ground environment; and executing corresponding actions by the robot model under the gravity, movement inertia or frictional force according to action signals generated by a simulation platform. According to the method, a real movement physical environment of a robot is efficiently simulated in a computer by adopting the simulation platform, the physical engine and the 3D modeling technology, a movement effect that can be achieved only by a real machine test originally is achieved, the robot action generation and test efficiency is improved, and large-scale parallel simulation computing can be carried out without accumulative errors.

Description

technical field

[0001] The invention relates to the field of robots, in particular to a method for generating robot actions based on a physics engine. Background technique

[0002] Existing debugging of robot actions is mainly to use manual or program to generate action sets, and then burn the action sets into the robot and conduct real machine tests to get the actual operation results. The specific operation requires manual one-to-one on the robot actions Carry out real tests, but after a long period of extensive testing, robot joints and structural parts may need to be adjusted or replaced due to severe wear, otherwise errors will accumulate and affect test results. In order to avoid the impact of error accumulation on test results, it is necessary Adjust or replace the joints and structural parts of the robot in time.

[0003] To sum up, the existing debugging technology for robot motion has the following disadvantages: (1) The efficiency is low; (2) In order to avoid th...

Examples

Embodiment Construction

[0017] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] Embodiments of the present invention provide a method for generating robot actions based on a physics engine, such as figure 1 shown, including the following steps:

[0019] Step 101, use 3D modeling to obtain a robot model, and use a physics engine (such as Havok and PhysX) to construct a simulated ground environment.

[0020] Step 102, setting the weight, acceleration of gravity and plane friction coefficient of the robot model, and placing it in the simulated ground environment.

[0021] Step 103, control the robot model to perform corresponding actions under gravity, motion inertia or friction through the action signal generated by the simulation platform.

[0022] Multiple robot models are placed in the same simulated ground environment. The aforementioned robot models include, but are not limited to: hexapod walking robots, ro...

technical field

[0001] The invention relates to the field of robots, in particular to a method for generating robot actions based on a physics engine. Background technique

[0002] Existing debugging of robot actions is mainly to use manual or program to generate action sets, and then burn the action sets into the robot and conduct real machine tests to get the actual operation results. The specific operation requires manual one-to-one on the robot actions Carry out real tests, but after a long period of extensive testing, robot joints and structural parts may need to be adjusted or replaced due to severe wear, otherwise errors will accumulate and affect test results. In order to avoid the impact of error accumulation on test results, it is necessary Adjust or replace the joints and structural parts of the robot in time.

[0003] To sum up, the existing debugging technology for robot motion has the following disadvantages: (1) The efficiency is low; (2) In order to avoid th...

Examples

Embodiment Construction

[0017] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] Embodiments of the present invention provide a method for generating robot actions based on a physics engine, such as figure 1 shown, including the following steps:

[0019] Step 101, use 3D modeling to obtain a robot model, and use a physics engine (such as Havok and PhysX) to construct a simulated ground environment.

[0020] Step 102, setting the weight, acceleration of gravity and plane friction coefficient of the robot model, and placing it in the simulated ground environment.

[0021] Step 103, control the robot model to perform corresponding actions under gravity, motion inertia or friction through the action signal generated by the simulation platform.

[0022] Multiple robot models are placed in the same simulated ground environment. The aforementioned robot models include, but are not limited to: hexapod walking robots, ro...

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