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

Lens, Thomas ; Radkhah, Kathayon ; Stryk, Oskar von ; Stryk, Oskar von (2011)
Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity.
Conference or Workshop Item, Bibliographie

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 ; Radkhah, Kathayon ; Stryk, Oskar von ; Stryk, Oskar von
Type of entry: Bibliographie
Title: Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity
Language: English
Date: 2011
Book Title: Proc. 15th International Conference on Advanced Robotics (ICAR)
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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.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Last Modified: 15 Mar 2019 09:58
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