首先对液压四足机器人的运动特性进行了研究,选取 CPG 算法作为控制算法并建立了数学模型,用 Matlab 实现软件上的仿真,观察各髋关节的输出信号;然后借助 Matlab 工具 HDL Coder 将 Simulink 模型转换为 Verilog 硬件语言,并在硬件环境下借助 Modelsim 用 VHDL 语言进行协同仿真;最后通过输出信号的前后对比验证了算法的有效性。该方法简化了测试流程,无需采用复杂的 Test Bench 编程方法,提高了测试的完整性。
Firstly,the paper researches the motion characteristics of the hydraulic quadruped robot,choosing CPG algorithm as control al-gorithm and setting up mathematical model,then uses Matlab to realize the software simulation,and observes the output signal of each hip.Then uses HDL Coder tools in matlab to convert the Simulink model to Verilog hardware language,and completes co-simulation in hardware using VHDL language.Lastly,the validity of the algorithm is verified by comparing the before and after output.This method simplifies the testing flow and improves the testing integrity,in stead of writing complex Test Bench.