Simulation of anthropomorphic walking robot dynamics in virtual environment systems

Е.V. Strashnov, D.V. Omelchenko

Abstract


This paper considers the task of real time dynamics simulation for anthropomorphic walking robots in virtual environment systems. To solve this task, an approach is proposed in which the motion of articulated rigid bodies system, representing an anthropomorphic robot, is described by absolute coordinates. In this approach, the dynamics simulation of the anthropomorphic robot is realized using the developed sequential impulses method, designed to ensure the constraints imposed on the body coordinates and velocities. Using the semi-implicit Euler scheme for integration of motion equations, the proposed solution allows one to realize the dynamics of articulated rigid bodies, the actuator dynamics in the robot joints, as well as the contact interaction of the robot's feet with the surface. Approbation of the methods and approaches proposed in this paper was carried out  in the virtual environment software complex created at the SRISA RAS and showed their adequacy and effectiveness by the example of performing technological operations in which the robot interacts with objects

Full Text:

PDF (Russian)

References


V.E. Pavlovsky, "About the development of walking machines," Preprints of Keldysh Institute of Applied Mathematics, No. 101, 2013.

J. Fink, "Anthropomorphism and human likeness in the design of robots and human-robot interaction," International Conference on Social Robotics, 2012, pp. 199-208.

E.I. Yurievich, Fundamentals of Robotics: Textbook. manual, 4th ed., rev. and add. SPb: BHV-Petersburg, 2017.

M. Spong and M. Vidyasagar, Robot dynamics and control. Hoboken, NJ, USA: Wiley, 2008.

R. Featherstone, Rigid body dynamics algorithms. New Jork: Springer-Verlag, 2008.

E. Kokkevis, "Practical physics for articulated characters," in Game Developers Conference, 2004.

M.V. Mikhaylyuk, E.V. Strashnov, and P.Yu. Timokhin, "Algorithms of multibody dynamics simulation using articulated-body method," Mathematica Montisnigri, Vol. XXXIX, 2017, pp. 133-145.

E. Catto, "Iterative dynamics with temporal coherence," in Game Developers conference, 2005, pp. 1-24.

R. Weinstein, J. Teran, and R. Fedkiw, "Dynamic simulation of articulated rigid bodies with contact and collision," in IEEE Transactions on Visualization and Computer Graphics, Vol. 12, 2006, pp.365-374.

J. Bender, K. Erleben, J. Trinkle, and E. Coumans, "Interactive simulation of rigid body dynamics in computer graphics," Computer Graphics Forum, Vol. 33, Wiley Online Library, 2014, pp. 246-270.

K. Pickl, "Rigid body dynamics: links and joints, " Master’s thesis, Computer Science Department 10 (System Simulation), University of Erlangen-Nurnberg, 2009.

M.V. Mikhaylyuk, and E.V. Strashnov, "Simulation of articulated multibody system using sequential impulses method," Proceedings of NIISI RAS, Vol. 4, No. 2, 2014, pp. 52-60.

G. van den Bergen, and D. Gregorius, Game physics pearls. AK Peters/CRC Press, 2010.

V.I. Drong, V.V. Dubinin, M.M. Ilyin et al., Course of Theoretical Mechanics: Textbook for Universities, ed. K.S. Kolesnikov, 3rd ed. Moscow: Publishing house of BMSTU, 2005, 736 p.

H. Garstenauer, and D.I.D.G. Kurka, A unified framework for rigid body dynamics. Degree Paper, 2006.

A.A. Shabana, Computational dynamics, Third edition, John Wiley & Sons Inc., 2010.

H. Asada, Introduction to Robotics. Lecture Notes, 2005.

E.V. Strashnov, and М.А. Torgashev, “Simulation of actuator dynamics virtual robots in training complexes,” Mechatronics, automation, control, Vol. 17, No. 11, pp. 762-768, 2016.

E.V. Strashnov, and M.V. Mikhaylyuk, "Methods for robotic manipulator force control in virtual environment systems," International Journal of Open Information Technologies, Vol. 7, No. 9, 2019, pp. 39-45.


Refbacks

  • There are currently no refbacks.


Abava  Absolutech Convergent 2020

ISSN: 2307-8162