Parallel O(log N) Algorithm for Dynamics Simulation of Humanoid Robots

2006 ◽  
Author(s):  
Katsu Yamane ◽  
Yoshihiko Nakamura
Keyword(s):  
Humanoid Robots ◽  
Dynamics Simulation

1A1-A08 Dynamics simulation of humanoid robots using contact force calculation based on LCP

2007 ◽  
Vol 2007 (0) ◽  
pp. _1A1-A08_1-_1A1-A08_4
Author(s):  
Shin'ichiro NAKAOKA ◽  
Shizuko HATTORI ◽  
Fumio KANEHIRO ◽  
Shuuji KAJITA ◽  
Hirohisa HIRUKAWA
Keyword(s):  
Contact Force ◽  
Humanoid Robots ◽  
Dynamics Simulation ◽  
Force Calculation

Effects of COM Vertical Oscillation on Joint Torques During 3D Walking of Humanoid Robots

2016 ◽  
Vol 13 (04) ◽  
pp. 1650019 ◽  
Author(s):  
Sahab Omran ◽  
Sophie Sakka ◽  
Yannick Aoustin
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Center Of Mass ◽  
Vertical Motion ◽  
Humanoid Robots ◽  
Dynamics Simulation ◽  
Vertical Oscillation ◽  
Human Beings ◽  
Joint Torques ◽  
Consequent Reduction

This paper proposes an analysis of the effect of vertical motion of the center of mass (COM) during humanoid walking. The linear inverted pendulum (LIP) model is classically used to deal with humanoid balance during walking. The effects on energy consumption of the COM height remaining constant for humanoid robots, or varying like human beings are studied here. Two approaches are introduced for the comparison: the LIP which offers the great advantage of analytical solving (i.e., fast and easy calculations), and a numerical solving of the IP dynamics, which allows varying the height of the center of mass during walking. The results are compared using a sthenic criterion in a 3D dynamics simulation of the humanoid robot Romeo (Aldebaran Robotics Company) and show a consequent reduction of the robot torque solicitation when the COM oscillates vertically.

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