Simulation Of Humanoid Biped Walking Robot

This thesis is based on the project, "Humanoid Biped Robot Technology andTheir Applications", supported by the 985 projects of Tsinghua University. Thethesis mainly proposes the research and simulation study on humanoid bipedwalking robots.First of all,the thesis introduces the basic theory of multibody system dynamics,including the modeling of dynamics of systems of rigid bodies, the modeling offlexible multibody dynamics and formulation solver of muitibody system dynamics.Then, it depicts MSC.ADAMS and the related algorithm, the parameterizing modeland parametric analysis tools.The thesis focuses on three issues. That is, building the digital prototype of therobot's lower limbs;the robot's gait simulation;the cooperative simulation betweenthe robot's prototype and the control system. The thesis mainly covers the points asfollowed:1. According to the practical prototype of the robot, the thesis argues how set upthe digital prototype of the robot's lower limbs with MSC.ADAMS and themodeling procedure of making different parts of the prototype. It also compares thepart's quality of the practical measurement calculating results of the digitalprototype.2. The thesis depicts the achievement of the robot's virtual walking in that theselected stable walking gait has been guaranteed by the practical measurement anddata difficult to get in the practical experiments.3. The thesis shows the achievement of the cooperative simulation of the robot'sjoints in the same software. It strongly approved that MSC.ADAMS canindependently support cooperative simulation between the comparatively simplesingle joint control system and mechanical system. Hence, a simple way of studyingthe single joint movement controller.Up to now, the achievement is that THBIP-1 robot's lower limbs of the digitalprototype walk in the simulation software.