Dynamic simulator for humanoids using constraint-based method with static friction

Jean-Rémy Chardonnet 1, 2 Sylvain Miossec 2 Abderrahmane Kheddar 3, 2 Hitoshi Arisumi 2 Hirohisa Hirukawa 4 François Pierrot 5 Kazuhito Yokoi 2
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 CNRS-AIST JRL - Joint Robotics Laboratory [France]
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
4 HRG - Humanoid Robot Group
5 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A dynamic simulator using constraint-based method is proposed. It is the extension of the formalism previously introduced by Ruspini and Khatib by including static and dynamic friction without friction cone discretization. The main contribution of the paper is in efficiently combining the operational space formulation of the multi-body dynamics in the contact space and solving for contact forces, including friction, using an iterative Gauss-Seidel approach. Comparing to existing work in this domain, we illustrate our method with scenarios involving humanoid in manipulation tasks while contacting with the environment; an experiment validates our results. Technical details that allow an efficient implementation and problems with future orientation to improve the simulator are also discussed. This work is aiming to be a potential module of the next OpenHRP simulator generation.
Type de document :
Communication dans un congrès
ROBIO'06: International Conference on Robotics and Biomimetics, Dec 2006, Kunming, China. 2006
Liste complète des métadonnées
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108228
Contributeur : François Pierrot <>
Soumis le : vendredi 20 octobre 2006 - 09:22:44
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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  • HAL Id : lirmm-00108228, version 1

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DEXTER | IDH | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

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Jean-Rémy Chardonnet, Sylvain Miossec, Abderrahmane Kheddar, Hitoshi Arisumi, Hirohisa Hirukawa, et al.. Dynamic simulator for humanoids using constraint-based method with static friction. ROBIO'06: International Conference on Robotics and Biomimetics, Dec 2006, Kunming, China. 2006. 〈lirmm-00108228〉

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