Interactive Dynamic Simulator for Humanoid With Haptic Feedback
Interactive Dynamic Simulator for Humanoid With Haptic Feedback
复制标题
具有触觉反馈的人形交互式动态模拟器
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
F. Pierrot
中科院分区：
文献类型：
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作者：
J. Chardonnet;François Keith;A. Kheddar;K. Yokoi;F. Pierrot
在本文中，我们提出了一种用于人形机器人的交互式动态模拟器。在我们的软件中，用户可以通过触觉探针直接与机器人交互，同时反馈其动作后的反作用力。该模拟器还允许机器人、人类或以联合协作的方式创建和操纵虚拟对象。该动态模拟器使用快速计算动力学和基于约束的摩擦方法。它是为通用原型设计和带有触觉反馈的协作场景研究而设计的通用框架的一部分。模拟器的不同组成部分通过模拟场景呈现。仿真是多年来不断发展的一个研究课题，在机器人、计算机游戏、虚拟现实、医学和化学科学等各个领域都有许多应用。需要动力学仿真来验证物理模型，通过触觉行为添加交互可以大大提高真实感，并允许执行操纵或协作任务。但与环境的交互需要处理正确建模接触、摩擦、冲击和变形的问题，这仍然是一项具有挑战性的研究。在本文中，我们提出了一种具有力反馈的人形交互式动态模拟器，并使用基于约束的方法求解带有摩擦的接触力。我们的目标是提供高质量和快速的模拟。我们提出了一种新的操作空间惯性矩阵计算方法以及模拟场景。我们将模拟器集成到一个通用框架中，该框架是为通用原型设计和协作场景目的而开发的。
In this paper we present an interactive dynamic simulator for humanoid. In our software, the user can interact directly with the robot through a haptic probe and meanwhile feed back with reaction forces subsequent to its actions. The simulator allows also creation and manipulation of virtual objects by the robot, by the human or in a joint collaborative way. This dynamic simulator uses fast computation dynamics and constraint-based methods with friction. It is part of a general framework that is being devised for general prototyping and collaborative scenario studies with haptic feedback. The different ingredients of the simulator are presented with an simulation scenario. Simulation is a research topic that is being more and more developed since many years as it has many applications in various fields such as robotics, computer games, virtual reality, medical and chemical science, etc. Dynamics simulation is needed to validate physical models, and adding interaction by means of haptic behaviours highly increases realism and allows performing manipulation or collaborative tasks. But interacting with the environment supposes to deals with problems of modeling properly contact, friction, impact and deformation and it still remains a challenging research. In this paper we present an interactive dynamic simulator for humanoids with force feedback and solving contact forces with friction using constraint-based methods. Our goal is to provide high quality and fast simulations. We present a new computation method of the operationnal space inertia matrix as well as a simulation scenario. We integrated our simulator in a general framework that is being developed for general prototyping and collaborative scenario purposes.