Title :
Simulation of the Humanoid Running Robot Based on ADAMS
Author :
Wei, Hangxin ; Wu, Wei ; Liu, Mingzhi
Abstract :
The virtual model of the humanoid running robot is built by using the software ADAMS. With this model, one can research the problem how to realize the running of a humanoid robot without the physical model of the robot. In addition, a method of realizing running for the robot based on virtual leg is proposed. The robot can run stably by planning the trajectory of the center of mass (COM) and the trajectory of two feet of the robot. The trajectory of the COM of the robot is mainly planned by the dynamic equation of the virtual leg of the robot. After this method is used in the virtual model of the robot, the robot can run at a speed of 2.9m/s. The simulation results show the validity of this method.
Keywords :
Cities and towns; Computational modeling; Computer simulation; Hip; Humanoid robots; Leg; Legged locomotion; Mobile robots; Motion planning; Trajectory; humanoid robot; running; simulation;
Conference_Titel :
Computer Modeling and Simulation, 2008. UKSIM 2008. Tenth International Conference on
Conference_Location :
Cambridge, UK
Print_ISBN :
0-7695-3114-8
DOI :
10.1109/UKSIM.2008.24
