A Three Dimensional Dynamic Simulation of Biped Walking Robot Considering Collision and Friction between Foot and Ground
A Three Dimensional Dynamic Simulation of Biped Walking Robot Considering Collision and Friction between Foot and Ground
复制标题
考虑足部与地面碰撞和摩擦的双足步行机器人三维动态仿真
DOI：
10.7210/jrsj.15.857
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
A. Kawamura
中科院分区：
文献类型：
--
作者：
Y. Fujimoto;A. Kawamura
A three dimensional dynamic simulation method for a biped robot has been proposed considering collision and friction between the foot and the ground. This method is an extension of the simulation method of open link manipulators and the contact simulation method of rigid body mechanics. This approach enables the investigation of various control algorithms of biped locomotions, and it requires the less cost compared with the experimental investigation method. First, a dynamics of free-falling manipulator is described. And then, a plastic collision model is introduced to realize a constrained motion. Finally, the method is applied to the 20-axis and 15-axis biped robot. The simulation results of motions of walking, jumping, and tumbling down are shown.
