Research Of Some Problems On Simulation Of Humanoid Robot

Simulation platform features physics engine to simulate humanoid robot's dynamics. It is critically conducive to improve the motion planning and to allow fast robot prototyping. This paper discusses the theory component-based digital mock-up, and the implementation of a 3D simulation system in terms of the instance of humanoid robot. There are several key contents addressed below:1. This paper depicts the basic notions of the theory component-based digital mock-up. Meanwhile the hierarchical model and assembly plan of 3D component-based digital modeling are designed for the humanoid robot simulation. The data structure of such model concerns to mass, velocity, acceleration, force, moment and any other information, which is used to sketch and to predict the kinematic and dynamic effects of complex multi-body.2. This paper depicts the kinematic simulation model for humanoid robot. Given the consideration of humanoid robot kinematic demands, recursive algorithms have been posed to trace the motion status according to forward and inverse kinematics.3. This paper depicts the dynamic simulation model for humanoid robot. Given the consideration of humanoid robot dynamic demands, recursive algorithms have been posed to trace the torque status according to forward and inverse dynamics.4. This paper depicts the gait planning of humanoid robot. Given the consideration of the 3D walking model stemming from the principle of 3D inverted pendulum model, the gait planning of humanoid robot is systematically discussed, if taking the GA, qubic splint interpolation and inverse kinematics into acount. The collaborative simulation platform, which including Matlab, VC++ and OpenGL, provides the testing data for the 3D simulation of gait planning.5. This paper depicts the local path planning of robot. A new mathematical model, which is called as pseudo hyperbolic hull, is posed. Furthermore a local path planning program executes to test and to verify the bound constructing algorithm of pseudo hyperbolic hull, and finally yields the path plan. The local pathes, which can been passed through with uniform velocity along straightforward line, are awarded by constructing the local pseudo huperbolic hull bounds for sampling points of complex path with the help of Matlab and VC++.As for the simulation system, a friendly interface and effective 3D animation based on OpenGL have been provided for the clients. The humanoid robot simulation system has approached the predicted effect in the process of collaborative simulation with Visual C++ and Matlab.