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Design of a Humanoid Robot Simulation Platform Based on MRDS
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YIN Hang,YAN Yonghua
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（Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China）
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Abstract To facilitate the research on gait of biped walking in humanoid robotics, design and implementation of a simulation platform based on Microsoft Robotics Developer Studio(MRDS) were discussed in this paper. Simulated robot modelling was conducted and the design patterns of robotics application under ServiceOriented Architecture were studied. Concurrent and coordinate control of robot behaviour were achieved and realized. Successful experiments, both on biped walking and basic vision, demonstrate that the platform can be expected to provide basic support for further control algorithm research.
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Received: 08 November 2009
Published: 30 November 2010
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