In the paper, we consider a method of developing a simulation model of a humanoid robot preserving its size and mass-inertial characteristics. We describe a developed model of the servomotor and a method of tuning its PID controller as well as a method of robot interaction with the surface based on the PD controller. With the help of a special method of tuning the PID controller in Simulink program, controls coefficients for the servomotor models were selected. The experimental results have shown that the servomotors can reach a predetermined angle of rotation and maintain this position with sufficient accuracy. We have conducted a simulation of the interaction of the humanoid robot with the floor surface. With Simulink software blocks, we have made a switch that activates support reaction force at the transition of the robot foot coordinates along a vertical axis to a negative value, which provides an adequate interaction of the model of the robot with the floor model.
CITATION STYLE
Denisov, A., Budkov, V., & Mikhalchenko, D. (2016). Designing simulation model of humanoid robot to study servo control system. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9812 LNCS, pp. 69–78). Springer Verlag. https://doi.org/10.1007/978-3-319-43955-6_10
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