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

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