Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 3641-3647

  Nakaoka, Shin'ichiro ^a   Hattori, Shizuko ^a   Kanehiro, Fumio ^a   Kajita, Shuuji ^a   Hirukawa, Hirohisa ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER NETWORKS; DAMPING; INTELLIGENT SYSTEMS; MECHANISMS; METAL CLADDING; ROBOTICS; ROBOTS; SPRINGS (COMPONENTS); VIBRATION CONTROL;

CONTACT FORCES; INTERNATIONAL CONFERENCES; RIGID BODIES; SIMULATION SYSTEM; VIRTUAL SPRING;

INTELLIGENT ROBOTS;

EID: 51349122535     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399415     Document Type: Conference Paper

References (18)

1. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of honda humanoid robot," in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, (Leuven, Belgium), pp. 1321-1326, May 1998.
2. K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi, and T. Isozumi, "Humanoid robot HRP-2," in Proceedings of the 2004 IEEE International Conference on Robotics and Automation, (New Orleans, LA), pp. 1083-1090, April 2004.
3. E. Kokkevis, "Practical physicas for articulated characters," in Game Developers Conference 2004, 2004.
4. J.-R. Chardonnet, S. Miossec, A. Kheddar, H. Arisumi, H. Hirukawa, F. Pierrot, and K. Yokoi, "Dynamic simulator for humanoids using constraint-based method with static friction," in Proceedings of IEEE International Conference on Robotics and Biomimetics, (Kunming, China), pp. 1366-1371, December 2006.
5. H. Hirukawa, F. Kanehiro, S. Kajita, K. Fujiwara, K. Yokoi, K. Kaneko, and K. Harada, "Experimental evaluation of the dynamic simulation of biped walking of humanoid robots," in ICRA2003, (Taipei, Taiwan), pp. 1640-1645, September 2003.
6. Y. Hwang, E. Inohira, A. Konno, and M. Uchiyama, "An order n dynamic simulator for a humanoid robot with a virtual spring-damper contact model," in Proceedings of the 2003 IEEE International Conference on Robotics & Automation, (Taipei, Taiwan), pp. 31-36, September 2003.
7. S. Hasegawa and M. Sato, "Real-time rigid body simulation for haptic interactions based on contact volume of polygonal objects," Computer Graphics Forum, vol. 23, pp. 529-538, September 2004.
8. K. Yamane and Y. Nakamura, "Stable penalty-based model of frictional contacts," in ICRA2006, (Orlando, Florida), pp. 1904-1909, May 2006.
9. D. Baraff, "Fast contact force computation for nonpenetrating rigid bodies" in Proceedings of SIGGRAPH 94, pp. 23-34, July 1994.
10. D. E. Stewart, "Rigid-body dynamics with friction and impact," SIAM REVIEW, vol. 42, no. 1, pp. 3-39, 2000.
11. K. G. Murty, Linear Complementary, Linear and Nonlinear Programming. Helderman-Verlag, 1998. http://www-personal.umich.edu/-murty/.
12. T. Liu and M. Y. Wang, "Computation of three-dimensional rigid-body dynamics with multiple unilateral contacts using time-stepping and gauss-seidel methods," IEEE Transaction of Automation Science and Engineering, vol. 2, pp. 19-31, January 2005.
13. C. Duriez, F. Dubois, A. Kheddar, and C. Andriot, "Realistic haptic rendering of interacting deformable objects in virtual environments," IEEE Transaction on Visualization and Computer Graphics, vol. 12, no. 1, pp. 36-47, 2006.
14. R. Featherstone, Robot Dynamics Algorithms. Kluwer Academic Publishers, 1987.
15. K. Erleben, J. Sporring, K. Henriksen, and H. Dohlmann, Physics-Based Animation. Charles River Media, Inc, 2005.
16. T. Isozumi, K. Akachi, M. Hirata, K. Kaneko, S. Kajita, and H. Hirukawa, "Development of humanoid robot HRP-2," Journal of the Robotics Society of Japan, vol. 22, no. 8, pp. 52-60, 2004. in Japanese.
17. F. Kanehiro, H. Hirukawa, and S. Kajita. "Openhrp: Open architecture humanoid robotics platform," International Journal of Robotics Research, vol. 23, no. 2, pp. 155-165, 2004.
18. K. Yokoi, F. Kanehiro, K. Kaneko, K. Fujiwara, S. Kajita, and H. Hirukawa, "Experimental study of biped locomotion of humanoid robot HRP-1S," in Experimental Robotics VIII (B. Siciliano and P. Dario. eds.), vol. 5, pp. 75-84, Springer Berlin / Heidelberg, 2003.