Dynamic gait simulation model and method of robot

Abstract

The invention discloses a dynamic gait simulation model and method of a robot. The dynamic gait simulation model comprises an initial posture adjustment module, a fuselage state detection module, an in-situ stepping module, a lateral stepping module and an ADAMS interaction module. The ADAMS interaction module is connected with the initial posture adjustment module, the fuselage state detection module, the in-situ stepping module and the lateral stepping module, and the fuselage state detection module is connected with the initial posture adjusting module, the in-situ stepping module and the lateral stepping module. The feasibility of a quadruped algorithm can be effectively verified so that the development cost of the quadruped algorithm can be reduced and the development efficiency of the quadruped algorithm can be enhanced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a dynamic gait simulation model of a robot and a dynamic gait simulation method of a robot. Background technique [0002] The quadruped bionic robot has a high degree of movement autonomy. In a complex unstructured environment, it can independently implement various movements with only a small amount of manual intervention, and can make appropriate adjustments independently according to changes in the terrain environment. , Intuitively, it has the same response and resilience as quadrupeds or humans. However, in the process of movement, it is almost impossible to implement specific action instructions manually, so it is necessary to use a fully developed motion control system to generate corresponding action instructions to meet the needs of different terrain conditions. [0003] If in the early stage of research and development, all system algorithms are tested on the computer, ...

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Problems solved by technology

[0003] If in the early stage of research and development, all system algorithms are tested on the computer, on the one hand, due to the large number of variable factors in the prototype, the progress of algorithm development will be reduced;

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