Development of a High Speed Dynamics Simulator for Humanoid Robots

Abstract

This paper describes the development of a high speed dynamic simulator for humanoid robots. In the simulator, 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 bodies and environments, a virtual spring-damper contact model is proposed. This model enables an accurate computation of the reaction forces and slips. 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.

An underactuated two-link-one-motor robot with dynamic mobility

“…Though, in this simulator, we treat the motion of floating two links without fixed point on the floor in the gravity, and add the force which is given to the wheels from the ground at each situation [5]. Matlab-Simulink was used to construct the simulator.…”