DocumentCode
3274108
Title
Simulation of the Humanoid Running Robot Based on ADAMS
Author
Wei, Hangxin ; Wu, Wei ; Liu, Mingzhi
fYear
2008
fDate
1-3 April 2008
Firstpage
726
Lastpage
731
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Modeling and Simulation, 2008. UKSIM 2008. Tenth International Conference on
Conference_Location
Cambridge, UK
Print_ISBN
0-7695-3114-8
Type
conf
DOI
10.1109/UKSIM.2008.24
Filename
4489022
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