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

Yoonkwon Hwang, Eiichi Inohira, Atsushi Konno, Masaru Uchiyama

    研究成果: Conference article査読

    31 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ(範囲)31-36
    ページ数6
    ジャーナルProceedings - IEEE International Conference on Robotics and Automation
    1
    出版ステータスPublished - 2003 12月 9
    イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
    継続期間: 2003 9月 142003 9月 19

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学
    • 人工知能
    • 電子工学および電気工学

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