Study on Simulation for Humanoid Robot

摘要

A formulation based on Danevit-Hartenberg was educed for the dynamics and kinematics equation, the virtual model of humanoid robot based on Pro/ENGINEER was developed. The simulator, which is the virtual counterpart of the hardware robot platform for humanoid robotics, can emulate the dynamics of the robots and test the control algorithms. The controller can handle a dynamic balance control, a biped locomotion and trajectory planning etc. A large number of simulations were done and the joint campaign curve of Humanoid Robot's arm doing a particular action was given. The experiment proved that the method was effective and feasible. Thus, the foundation was laid for the next phase of the control algorithm research.