Dynamics Simulation and Bionic Control Platform for Biped Robot with Matlab

摘要

Aiming at bionic control,a dynamics simulation and bionic control platform for biped robot was established based on Matlab.To utilize passive locomotive characteristics of joints,the variation of degrees of freedom caused by non-environmental constraints,and the consequent transformations between different motion phases were studied.Considering impact as inevitable character of robot locomotion,the hybrid dynamics model including impact was established,and the entrainment between controller,robot,and environment were finally realized.A bionic control method was proposed and tested on this platform.Depending on states of robot and environment information,the locomotion of each joint was coordinated,and the robot could walk stably with low energy consumption.The simulation result shows this platform provides an effective simulation means for bionic control and its motion characteristics analysis.