이족보행 로봇을 위한 3D 시뮬레이터

Abstract

In this paper, a 3D simulator was developed to reduce experimental problems of dangerous, economical and time element for locomotion of the biped walking robot (BWR) with joint actuators using the Open graphics library (OpenGL) and physical engine so called Open Dynamics Engine (ODE).

The database of 3D models for robot body？s elements using the Milkshape 3D ascii format was set up, and using them, 3D locomotion was simulator with mass, length of robot body？s elements to 3D. The 3D simulator was develop to have function of calculation of load torque of the drive motor to show the 3D simulator and to have ZMP function for stable walk of robot. The robot model adapted for the 3D simulator shows gesture of walk cycle of 8 steps, and it？s trajectories are generated based on the data of joint angles that from the motion capture system. To track the specified trajectories, the PID control algorithm is applied.

Finally, the joint angle from the simulator was applied to the actual BWR, and which showed similar walking results.