Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach

Dallali, Houman; Mosadeghzad, Mohamad; Medrano-Cerda, Gustavo A.; Docquier, Nicolas; Kormushev, Petar; Tsagarakis, Nikos G.; Li, Zhibin; Caldwell, Darwin G.

doi:10.1109/icmech.2013.6519110

Cited by 38 publications

(23 citation statements)

References 13 publications

(14 reference statements)

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“…2, a 2D cart-table model is constructed using the rigid body dynamics simulator ROBOTRAN [15]. The parameters used for this simulation are as follows.…”

Section: A Simulation Study Imentioning

confidence: 99%

A passivity based compliance stabilizer for humanoid robots

Zhou

Castano

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a passivity based compliance stabilizer for humanoid robots. The proposed stabilizer is an admittance controller that uses the force/torque sensing in feet to actively regulate the compliance for the position controlled system. The low stiffness provided by the stabilizer permits compliant interaction with external forces, and the active damping control guarantees the passivity by dissipating the excessive energy delivered by disturbances. Both the theoretical work and simulation validations are presented. The effectiveness of the stabilizer is demonstrated by the simulations of a simplified cart-table model and the multi-body model of a humanoid under impulsive/periodic force perturbations during standing and walking in place. Simulation data show the quantitative evaluation of the stabilization effect by comparing the responses of body attitude, center of mass, center of pressure without and with the stabilizer.

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“…2, a 2D cart-table model is constructed using the rigid body dynamics simulator ROBOTRAN [15]. The parameters used for this simulation are as follows.…”

Section: A Simulation Study Imentioning

confidence: 99%

A passivity based compliance stabilizer for humanoid robots

Zhou

Castano

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…The development of this simulator is still ongoing and so far it has been used in a number of dynamic simulation studies [11], [12] and [13]. Further details regarding the development of the model and simulator can be found in [7] and [10].…”

Section: The Compliant Joint Dynamic Simulatormentioning

confidence: 99%

“…This section provides an overview of the recently released open source Compliant joint simulator [7], [8], which is based on Robotran multi-body modeling tool [9]. This simulator uses the mathematical equations of the 23 DoF (Degrees of Freedom) COMAN robot (Newton-Euler), generated and optimized symbolically as opposed to numerical models.…”

Section: The Compliant Joint Dynamic Simulatormentioning

confidence: 99%

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dallali

Mosadeghzad

Medrano-Cerda

et al. 2013

2013 European Modelling Symposium

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Abstract-In this paper, we present a study on dynamic simulation to assist designing a high performance compliant humanoid robot. An open source dynamic simulator is introduced which includes the rigid body and actuator dynamics of the full humanoid robot. A set of representative tasks for humanoid robot in rescue operations are chosen and simulated. The data from these tasks are used in sizing the motor and transmission gear for each joint of the robot. It is shown that in the representative tasks, the most critical joint of the robot (in terms of power consumption) is the knee joint. Furthermore, a recently proposed optimization method is used to obtain the value of passive compliance for each joint. The data obtained from simulation studies are used for designing the new humanoid robot.

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“…A symbolic modelling and dynamic simulation of robotic manipulators with compliant links and joints was proposed by Cetinkunt and Book (1989), where commercial symbolic computation was done in tools like SMP, MACSYMA and REDUCE to simulate a two-link manipulator. A dynamic simulator for compliant humanoid robot (CoMan) was reported by Dallali et al (2013), which generated symbolic dynamic equations that can be used in MATLAB or C to carry out analysis. Symbolic computations are inherently slow and restrict users to analyse only smaller models.…”

Section: Introductionmentioning

confidence: 99%

Dynamic simulation of serial robots under force control

Udai¹,

Saha²

2018

IJIMR

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Abstract:The advantages of using force control in industrial robots are well known. Study of such systems in virtual environments in the form of simulation is of great help as most of the force controlled task works in close contact with the environment. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in industries before deciding to choose a suitable one for real implementation. Hence, a proper dynamic model of the robot is essential which should be able to emulate the real robot, particularly if the robot moves at relatively higher speeds. This is done here using the concept of the decoupled natural orthogonal complement (DeNOC) matrices which is known to provide a recursive forward dynamic algorithm that is not only efficient but also numerically stable. Such simulation of robots under force control will allow users to tune the control gains without stopping the real robot on the production floor. Besides, such simulation can be used as an education tool as well to help beginners to explore various types of control algorithms and their performances. In addition, the framework for simulation proposed in this paper can work as a good test bench to test the performances of either a new control law or a different dynamic algorithm. As an illustration, the DeNOC based dynamics was substituted with MATLAB's SimMechanics which can also perform dynamic simulation. The comparison of the results validated the concept and correctness of the numerical simulations.

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Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach

Cited by 38 publications

References 13 publications

A passivity based compliance stabilizer for humanoid robots

A passivity based compliance stabilizer for humanoid robots

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dynamic simulation of serial robots under force control

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