Forward dynamics algorithms for multibody chains and contact

Pai, Dinesh K.; Ascher, Uri M.; Kry, Paul G.

doi:10.1109/robot.2000.844157

Cited by 14 publications

(21 citation statements)

References 23 publications

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“…In this paper we use a notation for spatial dynamics which is similar to others [Featherstone 1987;Jain 1991;Montana 1988;Murray et al 1994;Pai et al 2000].…”

Section: Preliminariesmentioning

confidence: 99%

“…The NewtonEuler equations for a rigid body (see [Murray et al 1994;Pai et al 2000]) can be written using spatial vectors as…”

Section: Constrained Dynamicsmentioning

confidence: 99%

“…Both the composite rigid body method and articulated body method can be applied directly since the contacts are essentially generalized joints in a kinematic system [Pai et al 2000].…”

Section: Continuous Contact Simulation For Smooth Surfacesmentioning

confidence: 99%

“…It is not difficult to extend our method to multi-body systems where the contacts exist either in a chain or tree structure, since both the composite rigid body method and articulated body method can be applied directly (our contacts are essentially generalized joints in a kinematic system, see [Pai et al 2000]). Kinematic loops can also be treated, such as with loop closure constraints [Featherstone 1987]; however, in this case, the extra constraints are likely to prevent an efficient reduction of the system to an ODE (so stabilization of the extra constraints becomes necessary).…”

Section: Introductionmentioning

confidence: 99%

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Continuous contact simulation for smooth surfaces

Kry

Pai

2003

ACM Trans. Graph.

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Dynamics simulation of smooth surfaced rigid bodies in contact is a critical problem in physically based animation and interactive virtual environments. We describe a technique which uses reduced coordinates to evolve a single continuous contact between smooth piece-wise parametric surfaces. The incorporation of friction into our algorithm is straightforward. The dynamics equations, though slightly more complex due to the reduced coordinate formulation, can be integrated easily using explicit integrators without the need for constraint stabilization. Reduced coordinates confine integration errors to the constraint manifold, thereby permitting a wide choice of step sizes with visually acceptable results. We demonstrate these results using Loop Subdivision surfaces with parametric evaluation.

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“…In this paper we use a notation for spatial dynamics which is similar to others [Featherstone 1987;Jain 1991;Montana 1988;Murray et al 1994;Pai et al 2000].…”

Section: Preliminariesmentioning

confidence: 99%

“…The NewtonEuler equations for a rigid body (see [Murray et al 1994;Pai et al 2000]) can be written using spatial vectors as…”

Section: Constrained Dynamicsmentioning

confidence: 99%

“…Both the composite rigid body method and articulated body method can be applied directly since the contacts are essentially generalized joints in a kinematic system [Pai et al 2000].…”

Section: Continuous Contact Simulation For Smooth Surfacesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Continuous contact simulation for smooth surfaces

Kry

Pai

2003

ACM Trans. Graph.

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“…These solution methods are, in general, superceded in modularity and in efficiency for systems with more than 7-8 links by the articulated body algorithm (ABA) of O(N ) complexity [9]. The ABA [8,31] is a very exact and numerically stable multibody algorithm superior to the CRBA as it introduces less cancellations [29]. It exploits the linear relationship between accelerations and applied forces in a rigid-body system.…”

Section: Robotic Dynamic Algorithmsmentioning

confidence: 99%

The Role of Motion Dynamics in the Design, Control and Stability of Bipedal and Quadrupedal Robots

Hardt

Stryk

2003

Lecture Notes in Computer Science

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Abstract. Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions require methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control package, and new stability and energy performance indices are presented which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits with particular reference to the problems arising in soccer-playing tasks encountered at the RoboCup where our team, the Darmstadt Dribbling Dackels, participates as part of the German Team in the Sony Legged Robot League.

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Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots

Hardt

Stryk

2003

Z Angew Math Mech

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MSC (2000) 49M37 70E50, 70E60Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability, and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices are presented which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both bipedal and quadrupedal gaits.

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Forward dynamics algorithms for multibody chains and contact

Cited by 14 publications

References 23 publications

Continuous contact simulation for smooth surfaces

Continuous contact simulation for smooth surfaces

The Role of Motion Dynamics in the Design, Control and Stability of Bipedal and Quadrupedal Robots

Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots

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