,,.,, Motion. Motion Motion,. Motion,., Motion, Motion : T G Transform Group ;B G Branch Group. B G, T G, B G. 2, (body), Fi

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1 J OU RNAL OF SHAN GHA I J IAO TON G UNIV ERSIT Y Vol. 41 No. 8 Aug : (2007) J ava 3D,,, (, ) : J ava 3D,,.,,.,. : ; ; ; J ava 3D : TP : A Tri2Dimensional Simulation of Humanoid Robot Ba sed on J ava 3D Technology S U N Yi2j un, YU L ei2bi n, Q I U Chang2w u, CA O Qi2x i n (Research Inst. of Robotics, Shanghai Jiaotong Univ., Shanghai , China) Abstract : A met hod of matrix transformation derived f rom robot kinematics was provided according to t he characteristic of virt ual robot s tree struct ure in J ava 3D. And it makes bot h left foot and right foot of t he virt ual robot be t he root node of tree structure in turn dynamically. Based on t he method, a virt ual robot s drive was developed in single thread, making the virtual robot move smoothly. At last, t he walking mo2 tion was realized on a grap hic programming and simulation platform t hat support s t he humanoid robot. Key words : humanoid robot ; 3D simulation ; kinematics ; J ava 3D, [1,2 ]., VC Open GL, J ava 3D V RML.J ava 3D ( Scene grap hic struct ure), [3 ].,,.,.,.,,,, J ava V RML : : (19792),,,,. ( ),,,, ( Tel. ) ; E2mail : edu. cn.

2 ,,.,, Motion. Motion Motion,. Motion,., Motion, Motion : T G Transform Group ;B G Branch Group. B G, T G, B G. 2, (body), Fig. 1 Framework of the software , 5, 3, Fig. 3 Kinematic model of robot : D2H ;, 0 ;J ava 3D, x, y, z. body [4 ], r11 r12 r13 l x world Tbody = r21 r22 r23 l y r31 r32 r33 lz : 2 Fig. 2 Scene graphic structure of robot simulation body Tleg1 = cos 1 - sin sin 1 cos

3 8, : J ava 3D 1289 leg1 Tleg2 = leg2 Tleg3 = leg3 Tleg4 = leg4 Tfoot = sin 2 - cos cos 2 sin sin 3 cos cos 3 - sin cos 4 - sin sin 4 cos cos 5 - sin sin 5 - cos : body Tleg1 = leg1 Tleg2 = leg2 Tleg3 = leg3 Tleg4 = leg4 Tfoot = cos 6 - sin sin 6 cos sin 7 - cos cos 7 - sin sin 8 cos cos 8 - sin cos 9 - sin sin 9 cos cos 10 sin sin 10 - cos , ( ) world Tfoot = world Tbody body Tleg1 leg1 Tleg2 leg2 Tleg3 leg3 Tleg4 leg4 Tfoot (1) 2,,,., body,,,, , Left leg 3, body. 3, 5 leg1 leg2 leg3 leg4 foot. 4 Left leg 3, Fig. 4 Body s transform as joint Left leg 3 rotates angle, world Tfoot,., world Tfoot ; Left leg 3 Left leg 2 leg2 T leg3 = leg2 Tleg3 3 = ; leg2 T leg3 ( 1) leg2 Tleg3, body Tleg1 leg1 Tleg2 leg3 Tleg4 leg4 Tfoot, world world Tbody. world Tbody Tfoot, world T body = world Tfoot ( leg4 Tfoot ) - 1 ( leg3 Tleg4 ) - 1 ( leg2 T leg3 ) - 1 ( leg1 Tleg2 ) - 1 ( body Tleg1 ) - 1 (2) world T body body, body Tleg1 leg1 Tleg2 leg2 T leg3 leg3 Tleg4 leg4 Tfoot,.,., (1),,.,,

4 ,.,, CPU., CPU,.,.,, n.,,,,. SimuDrive Cal2 culate_body Transform. 5. Calculate_Body Transform body world Tbody,. : timer Calculate_ Body Transform,,, ;, timer,,.,,,,,, ;,,,, 30 ms, timer 30 ms, Fig. 6 The simulation of walking motion 5 Fig. 5 Theory of the virtual robot s drive Motion, SimuDrive setdata ( ), SimuDrive Motion,, SimuDrive tim2 er, Calcu2 late_body Transform, ( body ) VRobot robotmove ( ),. Motion, (1 8 ). J ava 3D, Transform 3D.,, body.,,.,. :CPU intel P4 2. 0,RAM 512 MB, NV IDIA 4 GeForce FX5200,128 MB ; Win2 dows XP., i i ( ), 1 s.

5 8, : J ava 3D :,.,,,., CPU,.,,.,, world Tbody,. [ 1 ] Kanehiro F, Fujiwara K, Kajita S, et al. Open archi2 tecture humanoid robotics platform[ C ]/ / IEEE Con2 ference on Robotics and Automation. Washington, DC : ICRA, 2002 : [ 2 ] Okada K, Ogura T, Haneda A, et al. Autonomous 3D walking system for a humanoid robot based on visual step recognition and 3D foot step planner[ C]/ / IEEE Conference on Robotics and Automation. Barce2 lona, Spain : ICRA, 2005 : [ 3 ] Sowizral H A, Deering M F. The Java 3D A PI and virtual reality [ J ]. Computer Graphics and Applica2 tions, 1999, 19 (3) : [ 4 ],,,. [J ].,2003, 39 (9) : YAN G Dong2chao, L IU Li, XU Kai, et al. Kine2 matics analysis of humanoid robot [J ]. Chinese Jour2 nal of Mechanical Engineering, 2003, 39 (9) : ( 1286 ) : [1 ] Matsumoto O, Kajita S, Komoriya K. Flexible locomo2 tion control of a self2contained biped leg2wheeled sys2 tem[ C]/ / Proceedings of 2002 IEEE/ RSJ International Conference on Intelligent Robots and Systems. Lau2 sanne, Switzerland : IEEE Press, 2002 : [2 ] Hashimoto K, Hosobata T, Sugahara Y, et al. Reali2 zation by biped leg2wheeled robot of biped walking and wheel2driven locomotion [ C]/ / Proc ICRA. Barcelona, Spain : IEEE Press, 2005 : [3 ] Endo G, Hirose S. Study on roller2walker : Multi2 mode steering control and self2contained locomotion [ C]/ / Proc ICRA. San Francisco : IEEE Press, 2000 : [4 ] Chitta S, Heger F, Kumar V. Design, analysis, simu2 lation and experimental result s for a rollerblader robot [ C ]/ / Proc ICRA. New Orleans, LA : IEEE Press, 2004 : [5 ]. [D ]. :,2002. [6 ]. [ M ]. :,2003. [7 ],,. [ M ]. :, [8 ],,,. [J ].,2006,17 (3) : XU Zi2li, L Β Tian2sheng, XU Zhen2hua, et al. Prin2 ciple of biped ice2skater robot and it s kinematic analy2 sis [J ]. China Mechanical Engineering, 2006,17 (3) :