| Nowadays, simulation platform has been widely used in the robotics research.Considering the particularity of the movement style and mechanical construction of humanoid robots, this thesis has made an intensive study of the simulator which specializes in humanoids. A new modeling and simulation platform has been developed for humanoid robots.The main work of this thesis includes:1. A new system has been designed for the humanoid robotics simulation. Visualization is supported based on OpenGL rendering environment in the system.2. A geometry-based modeling method is proposed. With the graphical interactive interface, the modeling process can be done without coding work.3. The kinematics engine has been developed and a key-frame-based motion planning module is proposed.4. The dynamics simulation system which integrates PhysX implements real-time dynamics simulation for humanoid robots, and the virtual motors and virtual sensors are realized. |
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