Contact dynamics modeling of a humanoid robot for tasks utilizing impact dynamics

Teppei Tsujita, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." This paper presents a contact dynamics model of a humanoid robot for such a motion. Multibody dynamics and effect of a servo controller on impulsive force are also considered in the proposed model. The proposed model can estimate impulsive force at low computation cost compared with full-featured dynamics computation methods. The estimation results of each motion are compared with simulation results by OpenHRP3. The maximum error of impulse is about 6 (%). Therefore, the proposed model is useful for estimating dynamics behavior of a humanoid robot.

    Original languageEnglish
    Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Pages447-452
    Number of pages6
    DOIs
    Publication statusPublished - 2009 Dec 11
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
    Duration: 2009 Oct 112009 Oct 15

    Publication series

    Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

    Other

    Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    CountryUnited States
    CitySt. Louis, MO
    Period09/10/1109/10/15

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction
    • Control and Systems Engineering

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