NDLI: Multi-physics modelling of a compliant humanoid robot

Content Provider	Springer Nature Link
Author	Zobova, Alexandra A. Habra, Timothée ot, Nicolas Dallali, Houman Tsagarakis, Nikolaos G. Fisette, Paul Ronsse, Renaud
Copyright Year	2016
Abstract	We present a multibody simulator being used for compliant humanoid robot modelling and report our reasoning for choosing the settings of the simulator’s key features. First, we provide a study on how the numerical integration speed and accuracy depend on the coordinate representation of the multibody system. This choice is particularly critical for mechanisms with long serial chains (e.g. legs and arms). Our second contribution is a full electromechanical model of the inner dynamics of the compliant actuators embedded in the COMAN robot, since joints’ compliance is needed for the robot safety and energy efficiency. Third, we discuss the different approaches for modelling contacts and selecting an appropriate contact library. The recommended solution is to couple our simulator with an open-source contact library offering both accurate and fast contact modelling. The simulator performances are assessed by two different tasks involving contacts: a bimanual manipulation task and a squatting tasks. The former shows reliability of the simulator. For the latter, we report a comparison between the robot behaviour as predicted by our simulation environment, and the real one.
Starting Page	95
Ending Page	114
Page Count	20
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	39
Issue Number	1-2
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-09-28
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Multibody dynamics COMAN Compliant actuators Contact dynamics Humanoid robot Robotran Simbody Vibration, Dynamical Systems, Control Optimization Electrical Engineering Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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