Virtual Prototype Modeling of Biped Robot with Heterogeneous Legs

Biped robot with heterogeneous legs (BRHL) can simulate amputees dressed with intelligent above/knee (A/K) prosthesis and can be used to evaluate intelligent prosthesis (IP) performance. First the concept of virtual prototype technology and BRHL is introduced. Then virtual prototypes of BRHL mechanical system, ground environment, perception and control system are established. In the end, the continuously walking simulation of BRHL based on virtual prototype is done. The research indicates that virtual prototype modeling based on Pro/E, ADAMS and MATLAB/Simulink is feasible.