Collaborative Research: A Complementarity-Free Contact Model for Robotics Applications

协作研究：机器人应用的无互补接触模型

• 批准号: 1100532
• 负责人: Evan Drumwright
• 金额: $ 12.1万
• 依托单位: George Washington University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-09-01 至 2015-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1100532&HistoricalAwards=false
• 关键词: Collaborative; Research; Complementarity; Free; Contact

The main goal in this collaborative research project is to advance the state of the art in realistic robot simulation by developing reasonably accurate contact models for rigid body dynamics that are both robustly and efficiently solvable. Since the times of Newton and Leibniz, the modeling of rigid body dynamics has been a tremendous success story. However, when rigid bodies come into contact and when that contact includes Coulomb friction, standard force-acceleration models sometimes fail. In such cases, a smooth solution is theoretically not even possible. A set of contact models that address this problem has been developed, derived from the well-established Signorini-Fichera (S-F) complementarity conditions. However, there is some evidence that these conditions are not accurate for impacting (rather than smoothly contacting) rigid bodies. This project will investigate situations in which the complementarity conditions are called into question, and will develop a new approach to address three critical shortcomings, present in varying degrees in state of the art contact models: (i.) their exponential worst-case solution times; (ii.) their inability to find solutions even though one exists; (iii.) their numerical brittleness. This project will investigate and evaluate new contact models that, by virtue of eliminating complementarity conditions, may not suffer from these shortcomings; in tandem, the project will use elastodynamic finite element analysis and physical experimentation in order to evaluate model accuracy for impacting rigid bodies.This project will impact a broad range of technologies, including aerospace, manufacturing, and civil engineering. In the near term, the project will enable the simulation of complex robot environments that help roboticists fine-tune both mechanical design and control algorithms. The computational models developed will be made public via the open-source Moby dynamics library. Additionally, participation in STEM is broadened through mentoring of students.

该协作研究项目的主要目标是通过为既有可靠和有效解决的刚性身体动力学的合理准确的接触模型开发出合理准确的接触模型来推进最新的机器人模拟状态。 自牛顿和莱布尼兹时代以来，僵化的身体动态的建模一直是一个巨大的成功故事。 但是，当刚体接触时，当该触点包括库仑摩擦时，标准力加速模型有时会失败。 在这种情况下，从理论上讲，平滑的解决方案甚至是不可能的。 已经开发出了一组解决此问题的接触模型，这些模型源自公认的Signorini-Fichera（S-F）互补条件。 但是，有一些证据表明，这些条件对于影响（而不是平稳接触）刚性的身体不准确。 该项目将调查互补条件受到质疑的情况，并将开发一种新的方法来解决三个关键的缺点，以不同程度的状态以最先进的联系模型存在：（i。）他们指数的最差解决方案时间； （ii。）即使存在一种解决方案，他们也无法找到解决方案； （iii。）它们的数值脆弱性。该项目将调查和评估新的接触模型，这些模型由于消除互补条件，可能不会遭受这些缺点；同时，该项目将使用弹性动力学有限元分析和物理实验，以评估影响刚性物体的模型精度。该项目将影响广泛的技术，包括航空航天，制造业和土木工程。在短期内，该项目将实现复杂的机器人环境的模拟，这些机器人环境可以帮助机器人对机械设计和控制算法进行微调。 开发的计算模型将通过开源Moby Dynamics库公开。此外，通过指导学生来扩大参与STEM的参与。