上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

基于MRDS仿人机器人仿真平台设计

尹航，言勇华
  

  1. （上海交通大学 机器人研究所， 上海 200240）
  • 收稿日期:2009-11-08 修回日期:1900-01-01 出版日期:2010-11-30 发布日期:2010-11-30

Design of a Humanoid Robot Simulation Platform Based on MRDS

YIN Hang,YAN Yonghua
  

  1. （Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China）
  • Received:2009-11-08 Revised:1900-01-01 Online:2010-11-30 Published:2010-11-30

摘要： 为了辅助仿人机器人双足步行的步态实验研究，基于微软机器人开发工作室(MRDS)，探讨了一种仿人机器人仿真平台的设计和实现.对虚拟环境中仿真机器人实体进行了建模，研究了面向服务思想下机器人应用程序的一般设计模式,实现了平台服务对机器人行为的并发协调控制.双足步态规划及基本视觉识别的测试表明，平台有效实现了仿人机器人多种基本行为的仿真，为步行及其他控制算法的研究及实验提供了支持和基础.

关键词: 仿人机器人, 双足行走, 多线程, 动力学仿真

Abstract: To facilitate the research on gait of biped walking in humanoid robotics, design and implementation of a simulation platform based on Microsoft Robotics Developer Studio(MRDS) were discussed in this paper. Simulated robot modelling was conducted and the design patterns of robotics application under ServiceOriented Architecture were studied. Concurrent and coordinate control of robot behaviour were achieved and realized. Successful experiments, both on biped walking and basic vision, demonstrate that the platform can be expected to provide basic support for further control algorithm research.