Skip to main content
SpringerLink
Log in

The Co-simulation of Humanoid Robot Based on Solidworks, ADAMS and Simulink

  • Conference paper
Progress in Robotics (FIRA 2009)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 44))

Included in the following conference series:

Abstract

A simulation method of adaptive controller is proposed for the humanoid robot system based on co-simulation of Solidworks, ADAMS and Simulink. A complex mathematical modeling process is avoided by this method, and the real time dynamic simulating function of Simulink would be exerted adequately. This method could be generalized to other complicated control system. This method is adopted to build and analyse the model of humanoid robot. The trajectory tracking and adaptive controller design also proceed based on it. The effect of trajectory tracking is evaluated by fitting-curve theory of least squares method. The anti-interference capability of the robot is improved a lot through comparative analysis.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Ohishi, K., Majima, K.: Gait control of biped robot based on kinematics and motion description in cartesian space. In: Conf. and Robotics and Automation, pp. 236–239 (2001)

    Google Scholar 

  2. Hirai, K., Hirose, M.: The development of honda humanoid robot. In: Proceedings of the 1998 IEEE International Conference on Robotics & Automation, Leuven Belgium, pp. 1321–1326 (1998)

    Google Scholar 

  3. Haug, E.J.: Computer_Aided Kinematics and Dynamics of Mechanical System. Prentice Hall, Englewood Cliffs (1989)

    Google Scholar 

  4. Gao, D.-X., Xue, D.-Y.: The Study of Robust Adaptive Control System of Robot Based on MATLAB/Simulink. Journal of System Simulation (in Chinese) 7(18-7), 2022–2025 (2006)

    Google Scholar 

  5. Ding, X.-G.: Study of Robot Control. Zhejiang University Press, Hangzhou (2006) (in Chinese)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Ocean University of China, Qingdao, 266100, China

    Dalei Song, Lidan Zheng, Li Wang, Weiwei Qi & Yanli Li

Authors
  1. Dalei Song
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Lidan Zheng
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Li Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Weiwei Qi
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Yanli Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

    Jong-Hwan Kim

  2. National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat , Abdullah Al Manum  & Ryohei Nakatsu ,  & 

  4. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  5. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, P.O. Box, 117576, Singapore

    Sadasivan Puthusserypady K

  6. Heinz Nixdorf Institute, System and Circuit Technology, University of Paderborn, Fuerstenallee 11, 33102, Paderborn, Germany

    Ulrich Rückert

  7. School of Software Engineering and Data Communications, Queensland University of Technology, P.O. Box, Brisbane, Australia

    Joaquin Sitte

  8. Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

    Ulf Witkowski

  9. The University of Western Australia, Perth, Australia

    Thomas Braunl

  10. Department of Computer Science, University of Manitoba, P.O. Box, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes  & John Anderson  & 

  11. Tamkang University, Taipei, Taiwan

    Ching-Chang Wong

  12. Technion - Israel Institute of Technology, Dept. of Education in Technology & Science, 32000, Haifa, Israel

    Igor Verner

  13. Trinity College, Hartford, CT, USA

    David Ahlgren

Rights and permissions

Reprints and permissions

Copyright information

© 2009 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Song, D., Zheng, L., Wang, L., Qi, W., Li, Y. (2009). The Co-simulation of Humanoid Robot Based on Solidworks, ADAMS and Simulink. In: Kim, JH., et al. Progress in Robotics. FIRA 2009. Communications in Computer and Information Science, vol 44. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03986-7_2

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-03986-7_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03985-0

  • Online ISBN: 978-3-642-03986-7

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation