@inproceedings{aafed467ee31493896259e131c35d2e8,
title = "Application of ADAMS User-Written Subroutine to Simulation of Multi-gait for Spherical Robot",
abstract = "Considering the complexity of robot structure and the influence of experimental environment, an Adams and C-based method for multi-step joint simulation of robots was proposed. It is of great significance to the verification control program. Unlike the joint simulation of Adams and MATLAB, the simulation method does not need to build Simulink block diagram and only bases on the programs. After completing the establishment of Adams mechanical motion model, the user subroutine can be written on the basis of the previous control program, and the interface call can be realized. The simulation results show the effectiveness and accuracy of the scheme. In addition, a gait experiment was performed on the robot. It is concluded that the simulation results can present the real situation well.",
keywords = "Cooperative Simulation, Spherical Robot, Virtual Prototype",
author = "Debin Xia and Shuxiang Guo and Liwei Shi and Huiming Xing and Xihuan Hou and Yu Liu and Huikang Liu and Yao Hu and Zan Li",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 ; Conference date: 04-08-2019 Through 07-08-2019",
year = "2019",
month = aug,
doi = "10.1109/ICMA.2019.8816405",
language = "English",
series = "Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1436--1441",
booktitle = "Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019",
address = "United States",
}