TY - GEN
T1 - Dynamics modeling of fully-actuated humanoids with general robot-environment interaction
AU - Khadiv, Majid
AU - Moosavian, S. Ali A.
AU - Sadedel, Majid
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/17
Y1 - 2014/12/17
N2 - In this article, a general method for dynamics modeling of a humanoid robot which interacts with its environment is presented. This general method is based on developing equations assuming no interaction with its environment. Then, consistent constraints in different phases of motion are taken into account. In this method, each holonomic interaction constraint is considered as an unknown force/ moment which are then mapped into joint space of the robot, using transpose of jacobian matrices of interaction points. To this end, constrained dynamics model for the robot with broad-spectrum interaction with its environment in different phases of motion is encapsulated. In order to validate the proposed method, a dynamics model for a 21 DOF humanoid robot during different phases of walking is obtained and the results are verified and discussed.
AB - In this article, a general method for dynamics modeling of a humanoid robot which interacts with its environment is presented. This general method is based on developing equations assuming no interaction with its environment. Then, consistent constraints in different phases of motion are taken into account. In this method, each holonomic interaction constraint is considered as an unknown force/ moment which are then mapped into joint space of the robot, using transpose of jacobian matrices of interaction points. To this end, constrained dynamics model for the robot with broad-spectrum interaction with its environment in different phases of motion is encapsulated. In order to validate the proposed method, a dynamics model for a 21 DOF humanoid robot during different phases of walking is obtained and the results are verified and discussed.
KW - General dynamics model
KW - Humanoid robots
KW - Robot-environment interaction
KW - Whole-body dynamics
UR - http://www.scopus.com/inward/record.url?scp=84922641246&partnerID=8YFLogxK
U2 - 10.1109/ICRoM.2014.6990906
DO - 10.1109/ICRoM.2014.6990906
M3 - Conference contribution
AN - SCOPUS:84922641246
T3 - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
SP - 233
EP - 238
BT - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Y2 - 15 October 2014 through 17 October 2014
ER -