Development of A Software Module for Humanoid Robot Regimen Motion
A series of humanoid robot regimen motion were designed through inspiration from Tai Chi martial arts,with the purpose of simulation on SYCU-Legendary humanoid software platform that was built on Ubuntu OS.Both development and simulation of the humanoid regimen module were completed,including the architecture construction of the software module and the implementation of core code,as well as the simulation results were displayed through joint-link diagrams.The stability of simulation pose was analyzed so as to optimize the robot motion based on ZMP stability criterion to ensure the balance of the humanoid during movement.The effects of humanoid robot regimen motion were well demonstrated through simulation with available analysis of motion data,laying a solid theoretical basis and providing a reliable experimental foundation for the development of physical action functions of humanoid robots.
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