基于ODE引擎的开放式仿人机器人仿真

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薛方正, 刘成军, 李楠, 李祖枢. 基于ODE引擎的开放式仿人机器人仿真[J]. 机器人, 2011, 33(1): 84-89.. XUE Fangzheng, LIU Chengjun, LI Nan, LI Zushu. Open Humanoid Robot Simulator Based on ODE. ROBOT, 2011, 33(1): 84-89..

摘要为了获得灵活、开放、简洁的仿真功能，提出了一种基于ODE（open dynamics engine）的仿人机器人仿真平台集成方案．将基于ODE的仿人机器人仿真系统开发过程定义为两类运算：变换叠加和关节叠加，并改计了这两类叠加的ODE算法．将仿人机器人结构描述为一个设计者和计算机都可以理解的结构表，将该结构表翻译为ODE基本元素实现仿真．设计并实现了一个基于所提出方案的仿人机器人仿真平台，根据基于倒立摆的步态规划思想，设计并在仿真平台上实现了双足步行的仿真实验．实验证明了文中方法的有效性．

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	薛方正
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关键词 ：仿人机器人, ODE, 动力学仿真, 开放式系统

Abstract：To get open,flexible,and compact properties of simulators,an ODE(open dynamics engine) based integration solution of humanoid robot simulator is presented.The development procedure of the ODE based humanoid robot simulator is defined as two kinds of operations,i.e.transform summation and joint summation,and the ODE algorithms of the two operations are given.The structure of a humanoid robot is described by a robot structure table that can be understood by simulator designers and the computer.The robot structure table is translated into ODE elements to realize simulation.A humanoid robot simulation platform based on the proposed method is designed and realized.The biped walking experiment using an inverted pendulum based gait planning method is realized on the simulator.The experiment results prove the effectiveness of the presented methods.

Key words： humanoid robot ODE(open dynamics engine) dynamic simulation open system

收稿日期: 2010-02-26 录用日期: 2010-10-20

TP242

基金资助:教育部博士点基金资助项目（20070611018）；国家自然科学基金资助项目（60905053）

通讯作者: 薛方正 E-mail: xuefangzheng@cqu.edu.cn

作者简介: 薛方正（1977- ），男，副教授．研究领域：智能机器人与智能控制．
刘成军（1980- ），男，博士，研究领域：仿人机器人．
李楠（1972- ），女，副教授，研究领域：智能机器人．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I1/84

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