Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

doi:10.1007/s12204-019-2040-3

Abstract

Abstract: Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS. The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.

Key words: humanoid robot walking system| Lagrange method| dynamics| ADAMS

摘要： Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS. The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.

关键词: humanoid robot walking system| Lagrange method| dynamics| ADAMS

CLC Number:

TP 242

ZHANG Bangcheng *(张邦成), SHAO Chen (邵晨), LI Yongsheng (李永生), TAN Haidong (谭海东), JIANG Dawei (姜大伟) . Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS[J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 58-63.

References 12

[1]	MAEBA T, WANG G, YU F, et al. Motion representationof walking/slipping/turnover for humanoid robotby Newton-Euler method [C]//SICE Annual Conference.Tokyo, Japan: IEEE, 2011: 255-260.
[2]	GE X F, JIN J T. Dynamics analyze of a dual-armspace robot system based on Kane’s method [C]//2ndInternational Conference on Industrial Mechatronicsand Automation. Wuhan, China: IEEE, 2010: 646-649.
[3]	YANG K, WANG X Y, GE T, et al. A dynamicmodel of an underwater quadruped walking robot usingKane’s method [J]. Journal of Shanghai Jiao TongUniversity (Science), 2014, 19(2): 160-168.
[4]	LUO L P, YUAN C, SHIN K S, et al. Trajectory forrobotic manipulators with torque minimization by usinghermit interpolation method [C]//13th InternationalConference on Control, Automation and Systems.Gwangju, Korea: IEEE, 2013: 1480-1483.
[5]	CUI M Q. Dynamical modeling of SCARA robot basedon Lagrange formulation [J]. Machinery Design &Manufacture, 2013(12): 76-78 (in Chinese).
[6]	AKBARZADEH A, ENFERADI J, SHARIFNIA M.Dynamics analysis of a 3-RRP spherical parallel manipulatorusing the natural orthogonal complement [J].Multibody System Dynamics, 2013, 29(4): 361-380.
[7]	WEI H X,WANGTM, LIUM. Inverse dynamicmodelingand analysis of a new caterpillar robotic mechanismby Kane’s method [J]. Robotica, 2013, 31(3):493-501.
[8]	ZHANG M, WANG P L. Application of MSC SimDesignerin product design [J]. Computer Aided Engineering,2006, 15(Sup1): 447-449 (in Chinese).
[9]	GUO Y. Virtual prototype and dynamics simulationof reducer based on CATIA [D]. Yanbian University,2012 (in Chinese).
[10]	CAI Z X. Robotics [M]. 2nd ed. Beijing: TsinghuaUniversity Press, 2009 (in Chinese).
[11]	WANG X P, SHA Y B, ZHAO X Y. Dynamic simulationfor clamping manipulator based on ADAMS [J].Machine Tool & Hydraulics, 2013, 41(13): 142-143(inChinese).
[12]	AN Z L, LI W G, WANG L L, et al. Gait simulationand analysis of humanoid robot based on ADAMS [J].Mechanical Engineer, 2015(4): 57-59 (in Chinese).

[1]	LIU Yi, ZHANG Kailin, SHAO Shuai, XIANG Hongxu. Investigation on Steady-State Thermal Performance of Gear Box Based on Thermal-Fluid-Solid Coupling [J]. Journal of Shanghai Jiao Tong University, 2025, 59(5): 666-674.
[2]	ZHANG Yueyao, QIAO Feng, LÜ Xiang, ZHANG Tianyuan, HAN Rui, LI Shuai. Pulsating Bubble Collapse and Jet Characteristics Near the Nozzle of Underwater Tube [J]. Journal of Shanghai Jiao Tong University, 2025, 59(1): 99-110.
[3]	WU Zhenlong, LIU Yanhong, XUE Yali, LI Donghai, CHEN Yangquan. Load Frequency Control of Islanding Micro-Grid with High-Proportional Renewable Energy Based on Desired Dynamics Equation [J]. Journal of Shanghai Jiao Tong University, 2024, 58(6): 954-964.
[4]	SU Hua, SHI Zhenxing3, DING Xuanhe, ZHANG Yayun, GONG Chunlin. Research on Multi-Physics Field Virtual Flight Modeling Method for Hypersonic Vehicle [J]. Air & Space Defense, 2024, 7(5): 45-53.
[5]	DU Ye¹ (杜晔), ZHAO Yifei² (赵一飞), GAO Deyi¹ (高德毅). Predictive Simulation of External Truck Operation Time in a Container Terminal Based on Traffic Big Data [J]. J Shanghai Jiaotong Univ Sci, 2024, 29(5): 801-808.
[6]	HUANG Heyuan1, QIU Jiangliang1, LI Zhongsheng1, LIU Jinjian2. Hydrodynamic Study on the Probes of Expendable Bathythermograph [J]. Ocean Engineering Equipment and Technology, 2024, 11(4): 67-74.
[7]	ZHANG Ningbo1, AN Chen1, ZHAO Tianfeng1, GAO Songlin1, NI Haocheng1, ZHOU Zhenyu2. Multibody Coupled Dynamics Analysis of the Dual Vessel Float-over Method for Wind Turbine Installation System [J]. Ocean Engineering Equipment and Technology, 2024, 11(4): 58-66.
[8]	ZHAI Xumao, TIAN Xinwei, ZHANG Chuanbin, LI Yujuan, LIU Shuo, CUI Yi. Coupling Characteristics of Lubrication and Flexible Multibody Dynamics of Piston-Liner Pairs in Diesel Engines [J]. Journal of Shanghai Jiao Tong University, 2024, 58(3): 324-332.
[9]	SUN Yuetong, MENG Fankai, ZHOU Lin, XU Chenxin. Comprehensive Analysis of Performance of Air Cooled Multistage Thermoelectric Cooler [J]. Journal of Shanghai Jiao Tong University, 2024, 58(3): 371-381.
[10]	ZHANG Nianfan, XIAO Longfei, CHEN Gang. A Review of Numerical Studies of Wave Impacts on Marine Structures [J]. Journal of Shanghai Jiao Tong University, 2024, 58(2): 127-140.
[11]	CAI Junlei, YAO Tiancheng, LIU Hong, WAN Lijian, WAN Jun, FAN Xiang, ZHAO Yongsheng. Calm Water Resistance Prediction and Navigation Posture Optimization of a New Unmanned Survey Catamaran [J]. Journal of Shanghai Jiao Tong University, 2024, 58(2): 166-174.
[12]	ZHANG Baolei, SUN Bing, ZHANG Hehe, CHEN Xiao, TIAN Guozhi. FPSO Working Chamber Underwater Detection Device Coupled Motion Response#br# [J]. Ocean Engineering Equipment and Technology, 2024, 11(2): 116-122.
[13]	ZHANG Weizhen, HE Zhen, TANG Zhangfan. Reinforcement Learning Control Design for Perching Maneuver of Unmanned Aerial Vehicles with Wind Disturbances [J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1753-1761.
[14]	GUAN Yanmin, YANG Caihong, KANG Zhuang, ZHOU Li. Application of an Improved GPU Acceleration Strategy for the Smoothed Particle Hydrodynamics Method [J]. Journal of Shanghai Jiao Tong University, 2023, 57(8): 981-987.
[15]	MAO Jia, XIAO Jingwen, ZHAO Lanhao, DI Yingtang. A Resolved CFD-DEM Approach Based on Immersed Boundary Method [J]. Journal of Shanghai Jiao Tong University, 2023, 57(8): 988-995.