41 8 2007 8 J OU RNAL OF SHAN GHA I J IAO TON G UNIV ERSIT Y Vol. 41 No. 8 Aug. 2007 :100622467 (2007) 0821287205 J ava 3D,,, (, 200240) : J ava 3D,,.,,.,. : ; ; ; J ava 3D : TP 391. 9 : 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 200240, 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. 1 1. 1 :2006207210 : (19792),,,,. ( ),,,, ( Tel. ) 021262932750 ; E2mail : qxcao @sjtu. edu. cn.
1288 41,,.,, Motion. Motion 30. 20 Motion,. Motion,., Motion, Motion. 1. 2 : T G Transform Group ;B G Branch Group. B G, T G, B G. 2, (body),. 3. 1 Fig. 1 Framework of the software 1. 2 17, 5, 3, 1. 2. 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 = 0 0 1 0. 281 cos 1 - sin 1 0 0. 240 sin 1 cos 1 0-0. 696 0 0 0 1
8, : J ava 3D 1289 leg1 Tleg2 = leg2 Tleg3 = leg3 Tleg4 = leg4 Tfoot = 0 0-1 0. 060 - sin 2 - cos 2 0-0. 480 - cos 2 sin 2 0-0. 261 sin 3 cos 3 0-0. 200 cos 3 - sin 3 0 0. 410 0 0-1 0 0 cos 4 - sin 4 0. 615 0 sin 4 cos 4 0 1 0 0 0. 292 cos 5 - sin 5 0-0. 351 - sin 5 - cos 5 0 0. 480 0 0-1 - 0. 031 : body Tleg1 = leg1 Tleg2 = leg2 Tleg3 = leg3 Tleg4 = leg4 Tfoot = 0 0 1 0. 281 cos 6 - sin 6 0-0. 240 sin 6 cos 6 0-0. 696 0 0 0 1 0 0 1-0. 060 - sin 7 - cos 7 0-0. 480 - cos 7 - sin 7 0-0. 261 0 0 0 1 sin 8 cos 8 0 0. 200 cos 8 - sin 8 0 0. 410 0 0-1 0 0 0 0 1 0 cos 9 - sin 9 0. 615 0 sin 9 cos 9 0 1 0 0 0. 292 - cos 10 sin 10 0-0. 351 - sin 10 - cos 10 0 0. 480 0 0 1 0. 031 0 0 0 1, ( ) world Tfoot = world Tbody body Tleg1 leg1 Tleg2 leg2 Tleg3 leg3 Tleg4 leg4 Tfoot (1) 2,,,., body,,,,. 2. 1 4, 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),,.,,
1290 41. 2. 2,.,, 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,. 3 6. 6 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 1 ( ), 1 s.
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