Realization of the adaptive excitation control method with biped walking robot simulation system

摘要

A simulation system of underactuated biped walking robot is developed by virtual prototyping and mixed programming technology in this paper. The simulation system is based on multi-disciplinary integration and modular programming. Then the experiments of adaptive excitation control method are studied by this simulation system. The results realized the virtual prototype simulation of the underactuated biped walking robot successfully, and verified the effectiveness of the control algorithm.