A METHOD FOR DESIGN HUMANOID ROBOT PARTS AND DEVICE

摘要

A method for designing the parts of a humanoid robot and a design apparatus thereof are provided to design the parts systematically and efficiently in consideration of the internal dynamic load which is generated due to various operations. The rigid multi-body dynamics is interpreted(S201). By using the interpreted result, the linear dynamic analysis(for example, the transient-response analysis) is performed(S202). Equivalent static loads are calculated by using the displacement field obtained from the dynamic analysis(S203). The linear static analysis is performed by using the equivalence static load (S204). By using the result obtained through the linear static analysis, the linear optimal design is performed (S205). The size, shape and property of each part are updated through the result obtained from the linear optimal design(S206).