Tham khảo tài liệu 'electrical engineering mechanical systems design handbook dorf crc press 2002819s_20', kỹ thuật - công nghệ, điện - điện tử phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | FIGURE Honda humanoid robot P2. Virtual Humanoid Robot Platform Nakamura and Takanishi and a group of associates developed the most complete software tool for modeling and control of humanoid robots reported to date. They developed a simulator of humanoid robots and a controller of whole body The basic modules of this software include 1. A dynamic simulator that executes efficient dynamics and kinematics and can accomodate structure changes of any open or closed kinematic chain and even such kinematic chains as to change connectivity in operation. The connectivity change function is essential because it is often seen when a humanoid walks touches or holds the environment grasps an object with the both hands and is even connected with another humanoid. 2. A view simulator or image synthesis that consists of modeling illumination shapes and materials of objects in a scene and cameras. The shapes of artificial objects can be obtained from CAD data but it is hard to produce material models of surfaces. The simulator can generate sequences of the fields of view from the eyes of the robot according to the dynamics simulation. When the view simulator is integrated with the dynamics simulator visual feedback of humanoid robots can be simulated. 3. A humanoid motion controller that can handle biped locomotion dynamic balance control at the standing position and collision avoidance. As part of the Virtual Humanoid Robot Platform V-HRP project a motion controller has been developed to achieve biped locomotion adaptive to terrain including walking straight turning going up or down the stairs and walking on rugged With this programming library complex locomotion can be realized as a sequence of basic motion patterns. The link between the basic motions of the robot is automatically generated for continuous motion control. Control data 2002 by CRC Press LLC FIGURE Global RehaRob concept. for a walk adaptable to terrain generated by the .
