Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity
Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity
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DOI：
10.1109/icar.2011.6088619
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发表时间：
2011-06
期刊：
影响因子：
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通讯作者：
Thomas Lens;Katayon Radkhah;O. Stryk
中科院分区：
文献类型：
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作者：
Thomas Lens;Katayon Radkhah;O. Stryk
本文研究了具有高关节弹性的机械手和腿式机器人的多体系统动力学仿真，特别是碰撞建模。我们提出了一个新开发的工具箱的结构，并详细讨论了一个现实的接触、摩擦和粘滞模型，该模型用弹跳球的实际测量数据进行了验证。所提出的工作是由作者小组的两个具体机器人发展所驱动和启发的：机械手BioRob和双足BioBiped。这些库用于开发这些仿生和高弹性机器人的运动学和动力学模型。模型和仿真的两个机器人进行了讨论，以及发生的力量在碰撞的BioRob-X4手臂与地面。我们还能够证明在人类受试者缓慢慢跑运动期间测量的地面接触力与使用BioBiped1获得的模拟结果具有良好的一致性。
In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors' group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.