Lower limb robot dynamics simulation platform and simulation method fusing balance strategy

Abstract

The invention belongs to the field of lower limb robot simulation. The invention specifically discloses a lower limb robot dynamics simulation platform and simulation method fusing a balance strategy.The simulation platform adopts a modular design, comprises a robot dynamics model module, a humanoid gait planning module and a balance module, the robot dynamics model module is used for constructing a virtual controlled object and comprises an entity sub-module, a rigidity transformation sub-module and a rotational joint sub-module, and the rotational joint sub-module comprises an active jointsub-module and a passive joint sub-module; wherein the anthropomorphic gait planning module and the balance module are both connected with the robot dynamic model module, the anthropomorphic gait planning module is used for generating an expected joint angle of a virtual controlled object, and the balance module is used for limiting excessive movement of the mass center of the virtual controlled object; the simulation platform is simple and efficient to construct, a balance strategy is fused, the requirement of lower limb robot gait simulation for balance is met, and rapid switching of different simulation functions is facilitated through modular design.

Description

technical field [0001] The invention belongs to the field of lower-limb robot simulation, and more specifically relates to a lower-limb robot dynamics simulation platform and a simulation method incorporating a balance strategy. Background technique [0002] Lower-limb robots with human walking characteristics, such as biped robots and lower-limb exoskeleton robots, are one of the hotspots in current robot research. Gait control is an important content of this kind of robot research, among which balance is the first premise of gait control. Robot balance gait control is closely related to dynamics, gait planning, control algorithms, etc. Because dynamics simulation can test gait planning, control algorithms, etc., the cost is low and there is no safety risk. Therefore, the virtual simulation platform in the lower limbs It plays an irreplaceable role in robotics research. [0003] However, currently commonly used robot system simulation software, such as Adams, V-Rep, etc.,...

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Problems solved by technology

[0003] However, currently commonly used robot system simulation software, such as Adams, V-Rep, etc., its main function is to perform multi-body dynamics simulation based on the physical engine, but because the lower limb robot also involves gait planning, gait phase detection, automatic control In many fields, it is difficult to build a multi-functional simulation platform for lower limb robots in the above software; if the above software is used for dynamic simulation of lower limb robots, R&D personnel need to redesign and develop corresponding hardware (drivers, sensors, etc.) for the actual lower limb robots. In order to achieve the corresponding functions, the development efficiency is not high; and the gait control needs to maintain balance, so the simulation of robot gait control needs special consideration of balance on the basis of conventional dynamics simulation, and increases the walking speed. balance strategy

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