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Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity

Lens, Thomas and Radkhah, Kathayon and Stryk, Oskar von and Stryk, Oskar von (2011):
Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity.
In: Proc. 15th International Conference on Advanced Robotics (ICAR), pp. 34-41, [Conference or Workshop Item]

Abstract

In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors" group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.

Item Type: Conference or Workshop Item
Erschienen: 2011
Creators: Lens, Thomas and Radkhah, Kathayon and Stryk, Oskar von and Stryk, Oskar von
Title: Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity
Language: English
Abstract:

In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors" group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.

Title of Book: Proc. 15th International Conference on Advanced Robotics (ICAR)
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2011:Lens-etal
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