中文摘要：

在Matlab环境下,通过Simulink和VR工具箱完成双足仿生行走的虚拟现实仿真。利用V-Realm Builder 2.0构建出双足行走虚拟三维模型,并通过虚拟现实工具箱的Simulink接口将人体下肢行走控制系统的Simulink模型与该三维模型建立关联,从而设置相关参数,通过Simulink模块输出的相应信号控制和操作模型运动。通过观察分析模型的运动,为相应的机构研究打下基础。

英文摘要：

Under the environment of Matlab,the simulation of bipedal walking using Simulink and VR toolbox is completed.It uses V-Realm Builder 2.0 to build a virtual three-dimensional model of bipedal walking,then connects the control system of human bipedal walking model and the three-dimensional model by the Simulink interface of virtual reality toolbox.Through setting the relevant parameters,it can control and operate the models movement with the output signal of the corresponding Simulink block.The analysis of the model lays the foundation for the development of the physical prototype.