Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies

Ishigaki, Taiki; Yamamoto, Kazuhisa

doi:10.1109/iros51168.2021.9636733

Cited by 7 publications

(5 citation statements)

References 18 publications

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“…In previous studies [5], [7], explicit integral methods have been used for numerical time integration in a dynamic PCS model simulation. Explicit methods using forward differences tend to be unstable in numerical calculations.…”

Section: Forward Dynamics Calculation Using the Implicit Methodsmentioning

confidence: 99%

“…Furthermore, Renda et al [6] proposed a hybrid model that integrates PCS and rigid multilink models. Ishigaki and Yamamoto [7] proposed a hybrid link system with a floating base link that considers the contact forces with the environment and achieved a forward dynamics simulation of a humanoid robot with a flexible structure in its legs. Using the hybrid link system, the motion analysis of an athlete with a leaf-spring-type prosthesis leg is performed [8], [9].…”

Section: Introductionmentioning

confidence: 99%

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Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Ishigaki,

Ayusawa,

Yamamoto

2024

IEEE Robot. Autom. Lett.

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Dynamic simulation of soft and flexible bodies is important for the motion planning and control of soft robot systems. This study presents a fast real-time simulation of the piecewise constant strain (PCS) model proposed in soft robotics research to calculate the dynamics of a beam or rod structure. We extend the theory of comprehensive motion transformation matrix (CMTM) to the PCS model, which allows us to systematically calculate the gradients in the equations of motion. Using the dynamic gradient, we perform a dynamic simulation of the PCS model via implicit integration. Compared to explicit integration, implicit integration allows us to use a larger time-step width for the integration without a flexible deformation divergence, which decreases the computational time. We present several examples of dynamic simulations, including a relatively rigid material such as carbon-fiber-reinforced plastics used in a leaf-spring-type sports prosthesis.

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Section: Forward Dynamics Calculation Using the Implicit Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Ishigaki,

Ayusawa,

Yamamoto

2024

IEEE Robot. Autom. Lett.

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“…Guo, Yuan based on multi-rigid body dynamics, a mathematical model of the human right leg and foot, combined with motion photography, force sensor measurements, multi-rigid body theory and finite element analysis to obtain the deep squat force [7] . Ishigaki, Taiki integrates dynamics computation and control of hybrid multi-link systems with rigid and soft bodies, providing a low computational cost approach to the study of robotics [8] . Zhang, Su studied the effect of athlete size on the difficulty coefficient of diving using a kinetic model [9] .…”

Section: Introductionmentioning

confidence: 99%

Modeling and simulation of fall process dynamics based on a simplified human body model

Zhou

2023

3rd International Conference on Applied Mathematics, Modelling, and Intelligent Computing (CAMMIC 2023)

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With the growth of age, the body function of the elderly gradually declines, and falling has become the main factor endangering the life safety of the elderly. In order to solve the problem of the lack of data support in the study of the elderly fall injury, the human body is simplified into a two-bar model articulated by two rigid bodies. Based on Kane method, the kinetic equation of the human fall process is derived and analyzed. By setting the inertia parameters and joint torque of the human body, the curve of the dynamic parameters of the human body with time is obtained. The simulation results show that the human joint Angle decreases gradually in the dynamic model, and the human body falls forward, which conforms to the law of human movement, and verifies the correctness of the dynamic model. It also plays an important role in the design of bionic machinery such as walking robots.

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“…In order to better reflect human walking, more segments and joints have been added to the model. The model with multiple degrees of freedom has been extensively studied, which are multi-link models [43][44][45][46][47]. In the earliest of these, Hanavan et al proposed a mathematical model with 15 links connected via spherical joints [44], but it is too complicated for practical use.…”

Section: Introductionmentioning

confidence: 99%

“…In the earliest of these, Hanavan et al proposed a mathematical model with 15 links connected via spherical joints [44], but it is too complicated for practical use. Although both Hurmuzlu et al [45], Ishigaki et al [46], and Borisov et al [47] have made models physiologically much closer to real human walking, they still cannot avoid complex calculations. High complexity and too many calculation parameters increase the calculation time and lead to poor comfort of the exoskeleton.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Foot Function in Human Gait Using a Two-Degrees-of-Freedom Inverted Pendulum Model with an Arced Foot

Xiang,

Guo,

Wang

et al. 2023

Bioengineering

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Gait models are important for the design and control of lower limb exoskeletons. The inverted pendulum model has advantages in simplicity and computational efficiency, but it also has the limitations of oversimplification and lack of realism. This paper proposes a two-degrees-of-freedom (DOF) inverted pendulum walking model by considering the knee joints for describing the characteristics of human gait. A new parameter, roll factor, is defined to express foot function in the model, and the relationships between the roll factor and gait parameters are investigated. Experiments were conducted to verify the model by testing seven healthy adults at different walking speeds. The results demonstrate that the roll factor has a strong relationship with other gait kinematics parameters, so it can be used as a simple parameter for expressing gait kinematics. In addition, the roll factor can be used to identify walking styles with high accuracy, including small broken step walking at 99.57%, inefficient walking at 98.14%, and normal walking at 99.43%.

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Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies

Cited by 7 publications

References 18 publications

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Modeling and simulation of fall process dynamics based on a simplified human body model

Modeling and Analysis of Foot Function in Human Gait Using a Two-Degrees-of-Freedom Inverted Pendulum Model with an Arced Foot

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