An order n dynamic simulator for a humanoid robot with a virtual spring-damper contact model

Yoonkwon Hwang, Eiichi Inohira, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to journalConference article

    29 Citations (Scopus)

    Abstract

    This paper describes an efficient dynamic simulation of a humanoid robot. In the simulation, an order n formulation is used to solve the inverse dynamics and forward dynamics of a multi-body system. The formulation can deal with a tree structure and multiple contacts with the environment. In order to simulate a collision with friction between the foot and a floor, a virtual spring-damper contact model is proposed. By introducing this model, computation of contact becomes easier and faster compared with other method such as plastic contact. A simulation of ascending steep stairs is carried out in order to demonstrate the validity of the simulation. The results of the simulation are presented and discussed.

    Original languageEnglish
    Pages (from-to)31-36
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    Publication statusPublished - 2003 Dec 9
    Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
    Duration: 2003 Sep 142003 Sep 19

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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