Research and Implementation of a Driving Simulator for Hexapod Robots
JIN Ma1, GAO Haibo1, DING Liang1, LI Jiayu2, YU Haitao1, LIU Zhen1, LI Nan1, DENG Zongquan1
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;
2. Research Institute of Mechatronic Control and Automation Technology, Harbin University of Science and Technology, Harbin 150080, China
金马, 高海波, 丁亮, 李佳钰, 于海涛, 刘振, 李楠, 邓宗全. 一种六足机器人模拟驾驶系统研究与实现[J]. 机器人, 2016, 38(6): 678-686.DOI: 10.13973/j.cnki.robot.2016.0678.
JIN Ma, GAO Haibo, DING Liang, LI Jiayu, YU Haitao, LIU Zhen, LI Nan, DENG Zongquan. Research and Implementation of a Driving Simulator for Hexapod Robots. ROBOT, 2016, 38(6): 678-686. DOI: 10.13973/j.cnki.robot.2016.0678.
Abstract：In order to achieve the training of drivers of hexapod robots, key techniques of driving simulator for hexapod robots are studied, and then a real-time driving simulator for hexapod robots is developed. The system is established under Eurosim, a real-time simulation frame for complex systems, to guarantee the real-time interaction between the hardware and software modules. The hardware and software of the system are designed, a simulation model is developed based on a manned hexapod robot, and thus the driving simulation of hexapod robot is implemented. The experimental results indicate that the system can respond to the driver's command rightly and in real-time, and the motion of the robot is simulated veritably.
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