Motion simulation platform for a humanoid robot base on MATLAB

摘要

The motion simulation platform of humanoid robot has been widely used in the robotics research. This paper introduces a general methodology for developing a motion simulation platform for a humanoid robot. Since the MATLAB is one of the most common and convenient language, we established kinematics simulation, interface design and kinematics analysis by using the MATLAB. As a result, a 3D humanoid robot model based on a real robot link structure has been developed. This simulation platform supports a serial port communication that can be configured on the GUI interface and then, the robot posture or motion can be controlled through the feedback data coming from the outside sensor. As an example, this paper shows a motion representing experiment by fixing a gesture sensing module on the human body.