中文摘要：

将虚拟样机搭建定义为两步运算,提出了利用ODE引擎进行机器人仿真平台设计开发的方法。设计并实现了的四足机器人仿真平台,在仿真平台上进行了四足机器人的步行仿真实验,验证了基于ODE引擎的机器人仿真平台开发方法的有效性和简便性。

英文摘要：

In this paper,the building process of virtual prototype is defined to be two operations,and an general approach of design and develop robot simulator platform based on ODE is proposed.Quadruped robot simulation platform is designed and implemented,and a walking simulation experiment is done on this simulation platform.The simulation experiment indicate the effectiveness and simplicity of the approach of building a robot simulation platform based on ODE.