Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/36426
Title: A SIMULATOR FOR LEGGED ROBOTS USING MATLAB AND SIMMECHANICS
Authors: CHRISTOPHER MOY SHIN LEE LAN CHONG
Keywords: Simulator, Robots, SimMechanics, Computer-aided Design (CAD), MATLAB, Physics effects
Issue Date: 23-Nov-2012
Source: CHRISTOPHER MOY SHIN LEE LAN CHONG (2012-11-23). A SIMULATOR FOR LEGGED ROBOTS USING MATLAB AND SIMMECHANICS. ScholarBank@NUS Repository.
Abstract: Simulators for robots with multiple DoFs can instantly provide information that might not be readily available on hardware robots. They enable algorithms for robots to be developed and tested safely, without the presence of the expensive hardware. SimMechanics from the MATLAB environment is considered in speeding up the development of algorithms for biped robots. The CAD software, Autodesk Inventor, is used to provide a visually and parametrically accurate biped robot model. The CAD assembly is exported to SimMechanics, where the modelling of physics effects for the simulation world is developed. Supporting tools that help in the analysis of the biped robot are created and integrated with existing MATLAB functions. With the ability to control the robot using online commands from MATLAB, and with motion and stability analysis functions, the simulator is ready to be applied in the further development and testing of the algorithms being developed for biped robots.
URI: http://scholarbank.nus.edu.sg/handle/10635/36426
Appears in Collections:Master's Theses (Open)

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