双足机器人数字孪生系统及现实-虚拟环境通信策略研究

doi:10.3778/j.issn.1002-8331.2407-0352

摘要/Abstract

摘要： 基于OpenGL工具和用户数据报协议（user datagram protocol，UDP），提出了一种多类型传感器数据整合能力的双足机器人数字孪生系统及其现实-虚拟环境通信策略，解决国内双足机器人在数字孪生层面对国外机器人操作系统（robot operating system，ROS）的依赖问题。同时为解决双足机器人关节误差导致的实际物理特性与数字孪生模型状态不一致的问题，提出了一种有效的误差控制方法。实验结果表明，该系统具有实时联动能力，数据延时比广泛使用的ROS框架降低46%，同时误差控制使虚拟环境中机器人各肢体的空间误差平均降低51%。为未来国产机器人的数字孪生系统提供了一种快速、轻量级产业实现方案。

关键词: 机器人, 数字孪生系统, 机器人操作系统, 仿真环境

Abstract: Based on OpenGL tools and the user datagram protocol (UDP), this paper proposes a digital twin system for biped robots with multi-type sensor data integration capabilities and its reality-virtual communication strategy. This addresses the dependency of domestic biped robots on foreign robot operating systems (ROS) at the digital twin level. Additionally, to tackle the issue of inconsistency between the actual physical characteristics and the state of the digital twin model caused by joint errors in biped robots, an effective error control method is proposed. Experimental results show that the system has real-time interaction capabilities, with data delay reduced by 46% compared to the widely used ROS framework, while the error control method reduces the average spatial error of the robot’s limbs in the virtual environment by 51%. This paper provides a fast, lightweight implementation solution for the digital twin systems of future domestic robots.

Key words: robot, digital twin system, robot operating system, simulation environment

张德雨, 刘思宇, 袁常顺. 双足机器人数字孪生系统及现实-虚拟环境通信策略研究[J]. 计算机工程与应用, 2025, 61(21): 333-341.

ZHANG Deyu, LIU Siyu, YUAN Changshun. Research on Digital Twin System of Biped Robots and Reality-Virtual Communication Strategy[J]. Computer Engineering and Applications, 2025, 61(21): 333-341.

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