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首页> 外文期刊>Applied Mathematical Modelling >Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations
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Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations

机译：七链接Biped机器人在各种表面上的数学模拟以及ZMP注意事项

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In recent years, numerous researches have been done based on simulation of legged mechanism, especially on biped robots simulation and control. The following article focuses on the biped robot simulation and control over various manners such as horizontal, ascending and descending surfaces with the aid of mathematical modeling methods (in MATLAB/SIMULINK environment). Similar parameters to human walking process will be obtained such as ZMP and joint's actuator torques. The mathematical simulation has been used to interpolate trajectory of the robot path with the given break points. "Of course, after the robot's path determination, third-order spline method will be used because of the very high precision and ability to calculate the kinematic and dynamic parameters. With the aid of this program, common parameters such as linear and angular velocity and acceleration, joint's angles and inertial forces for the given specifications and conditions (Nominal, no disturbances) will be calculated and simulated. Also, the two types of ZMP (Fixed and moving) have been considered and calculated with the aid of the software.
机译：近年来，基于腿式机构的仿真，尤其是两足动物机器人的仿真和控制，已经进行了许多研究。下一篇文章将重点介绍Biped机器人的仿真和通过数学建模方法（在MATLAB / SIMULINK环境中）对水平，上升和下降曲面等各种方式进行控制。将获得与人类步行过程相似的参数，例如ZMP和关节的执行器扭矩。数学模拟已用于在给定的断点处插补机器人路径的轨迹。 “当然，在确定机器人的路径之后，将使用三阶样条方法，因为它具有很高的精度以及计算运动学和动态参数的能力。在此程序的帮助下，可以使用常见参数，例如线速度和角速度以及将计算和模拟给定规格和条件（名义，无干扰）下的加速度，关节角度和惯性力，并借助软件考虑并计算了两种ZMP（固定和移动）。

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