东南大学学报（自然科学版）2013，Vol.43Issue(z1)：107-111,5.DOI:10.3969/j.issn.1001-0505.2013.S1.023
基于力控制模式的四足仿生机器人的动力学仿真
Dynamics simulation of quadruped bionic robot based on force control
摘要
Abstract
The realization method of the quadruped bionic robot dynamics simulation based on the force control mode is studied for the quadruped bionic robot.First,virtual reality modeling language (VRML) is used to build the quadruped bionic robot simulation model,and the relevant parameters of the robot are defined.Then the kinematics equations of the quadruped bionic robot are obtained according to the space vector algebra.Recursive Newton-Euler algorithm(RNEA) is used to analyze the inverse dynamics of the robot,in order to achieve the required driving torques of the robot for the dynamics simulation in the foree control mode,and the dynamics simulation system based on robot middleware is realized.Finally,through the dynamics simulation experiment of the quadruped bionic robot in trotting gait,the dynamics simulation system based on force control is verified to be effective and practical.关键词
力控制模式/四足仿生机器人/逆动力学/动力学仿真Key words
force control mode/ quadruped bionic robot/ inverse dynamics/ dynamics simulation分类
交通工程引用本文复制引用
陈培华,曹其新,马宏绪..基于力控制模式的四足仿生机器人的动力学仿真[J].东南大学学报（自然科学版）,2013,43(z1):107-111,5.基金项目
国家高技术研究发展计划(863计划)资助项目(2011AA040801,2012AA041401). （863计划）
