摘要
为了实现六足机器人驾驶员的模拟训练,对六足机器人模拟驾驶系统的关键技术进行了研究,进而开发了一种实时的六足机器人模拟驾驶系统.该系统在复杂系统实时仿真框架Eurosim下进行开发以保证各软、硬件模块之间的实时交互.对系统的软、硬件进行了设计,以一种有人驾驶六足机器人为原型建立了仿真模型,实现了六足机器人模拟驾驶.实验结果表明该系统能够实时地、正确地对驾驶员的操作做出反应,真实地模拟了机器人的运动.
In order to achieve the training of drivers of hexapod robots, key techniques of driving simulator for hexapod robots are studied, and then a real-time driving simulator for hexapod robots is developed. The system is established under Eurosim, a real-time simulation frame for complex systems, to guarantee the real-time interaction between the hardware and software modules. The hardware and software of the system are designed, a simulation model is developed based on a manned hexapod robot, and thus the driving simulation of hexapod robot is implemented. The experimental results indicate that the system can respond to the driver＇s command rightly and in real-time, and the motion of the robot is simulated veritably.
出处
《机器人》
EI
CSCD
北大核心
2016年第6期678-686,共9页
Robot
基金
国家自然科学基金(51275106
51575120)
"111"创新引智计划(B07018)
自然基金委创新研究群体项目(51521003)
哈尔滨工业大学重大重点科技创新培育支持计划(HIT.MKSTISP.2016 05)
国家973计划(2013CB035502)
哈尔滨市杰出青年人才项目(2014RFYXJ001)
