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

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 11 janvier 2018 - 06:27:07

Identifiants

  • HAL Id : lirmm-00108228, version 1

Collections

Citation

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〉

Partager

Métriques

Consultations de la notice

88