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

Most of the walking aids are designed for military program or gait rehabilitation, however, there is lack of research on walking aids for daily life even they are necessary. In this study, we designed a wheeled walking aid based on the body parameters of Chinese elderly, which consists on both assistive seat and walking assist. Some pressure and sEMG sensors were set up for developing the control algorithm according to the biomechanical models. Using the Ergonomics Simulation System, we evaluated the operating ranges, the viewing angles, and the joint torque of the equipment to prove the available of the design.

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On the design and evaluation of wheeled walking aids for the elderly

Gao

Sun

Zhong

2013

IEEE Conference Anthology

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Controlling Center of Mass in Humanoid Robot using Sliding Mode Control

Nguyen

Tran

Nguyen

et al. 2020

2020 International Conference on Advanced Mechatronic Systems (ICAMechS)

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A penalty-based approach for contact forces computation in bipedal robots

Rodas

Aoustin

Chevallereau

et al. 2009

2009 9th IEEE-RAS International Conference on Humanoid Robots

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International audienceComputation of contact forces is essential for the simulation of mechanical systems with unilateral constraints, like bipedal robots. Most methods are based on the rigid body assumption. They can be categorized into constraint-based and penalty-based approaches. In the former, contact forces are computed by solving an optimization problem based on linear or nonlinear complementarity conditions. Unfortunately, these methods cannot be directly applied to articulated systems described in generalized coordinates. In the second approach, spring-damper models are used to minimize interpenetration between the surfaces in contact. The main criticism to penalty approaches are parameter tunning, static friction handling, and the difficulties to treat multiple simultaneous unilateral contacts. In this work we present a new compliant approach based on input-output feedback linearization. The main advantages of the proposed approach are, the spring-damper parameters are independent of the parameters of the system (i.e masses, inertias), no a priori-defined velocity thresholds are required to distinguish between dynamic and static friction, multiple simultaneous unilateral contacts are naturally handled. The proposition has been succesful

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

Cited by 11 publications

References 8 publications

On the design and evaluation of wheeled walking aids for the elderly

On the design and evaluation of wheeled walking aids for the elderly

Controlling Center of Mass in Humanoid Robot using Sliding Mode Control

A penalty-based approach for contact forces computation in bipedal robots

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