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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.
Konferenzveröffentlichung, Bibliographie

Kurzbeschreibung (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.

Typ des Eintrags: Konferenzveröffentlichung
Erschienen: 2011
Autor(en): Lens, Thomas ; Radkhah, Kathayon ; Stryk, Oskar von ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity
Sprache: Englisch
Publikationsjahr: 2011
Buchtitel: Proc. 15th International Conference on Advanced Robotics (ICAR)
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Kurzbeschreibung (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.

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 20 Jun 2016 23:26
Letzte Änderung: 15 Mär 2019 09:58
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