Modelling and Simulation of the Locomotion of Humanoid Robots

Medrano-Cerda, Gustavo A.; Dallali, Houman; Brown, M.; Tsagarakis, Nikolas; Caldwell, Darwin G.

doi:10.1049/ic.2010.0367

Cited by 8 publications

(4 citation statements)

References 6 publications

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“…The development of this simulator is still ongoing and so far it has been used in a number of dynamic simulation studies [11], [12] and [13]. Further details regarding the development of the model and simulator can be found in [7] and [10].…”

Section: The Compliant Joint Dynamic Simulatormentioning

confidence: 99%

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dallali

Mosadeghzad

Medrano-Cerda

et al. 2013

2013 European Modelling Symposium

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Abstract-In this paper, we present a study on dynamic simulation to assist designing a high performance compliant humanoid robot. An open source dynamic simulator is introduced which includes the rigid body and actuator dynamics of the full humanoid robot. A set of representative tasks for humanoid robot in rescue operations are chosen and simulated. The data from these tasks are used in sizing the motor and transmission gear for each joint of the robot. It is shown that in the representative tasks, the most critical joint of the robot (in terms of power consumption) is the knee joint. Furthermore, a recently proposed optimization method is used to obtain the value of passive compliance for each joint. The data obtained from simulation studies are used for designing the new humanoid robot.

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Section: The Compliant Joint Dynamic Simulatormentioning

confidence: 99%

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dallali

Mosadeghzad

Medrano-Cerda

et al. 2013

2013 European Modelling Symposium

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“…There exists a wide variety of dynamic simulation environments with a range of capabilities [3], [4], [5], [6], [7], [8]. These environments provide a feature complete package, which combine an underlying dynamics engine with an interface for visualizing the simulations.…”

Section: A Existing Solutionsmentioning

confidence: 99%

Rapid prototyping toolchain for humanoid robotics applications

Choudhury

Wight

Kulić

2012

2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)

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Abstract-This paper introduces a rapid development toolchain for the design and dynamic simulation of robotic and/or mechatronic applications. The toolchain provides a fast and seamless workflow from developing a mechanical system in Computer Aided Design (CAD) software to automatically generating full dynamic simulations with real time 3D visualization. Subsequent design changes in CAD are reflected to the dynamic simulation blocks by simply updating the kinematic and dynamic parameters with minimal user input. The toolchain is demonstrated on the development of a 14 degree of freedom bipedal robot, validating its usefulness for designing complex robotic systems.

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“…The rotation about vertical axis and the torso is not considered at this stage. Further modelling and simulation details are provided by Medrano-Cerda, et al (2010) and the C-Cub mechanical model that includes all the dynamic parameters can be downloaded from: http://www.cicada.manchester.ac.uk/research/icub/…”

Section: Mechanical Modelmentioning

confidence: 99%

A Comparison of Multivariable & Decentralized Control Strategies for Robust Humanoid Walking

Dallali¹,

Medrano-Cerda²,

Brown³

2010

UKACC International Conference on CONTROL 2010

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Bipedal walking is one of the most interesting control problems in humanoids research. Walking is modelled as a hybrid system in the sense that it involves various phases such as single support phase, impacts with the ground (i.e. a state reset) and the double support phase. The control system has to provide good dynamic performance in these different modes to achieve fast walking speeds while guaranteeing its safe and robust operation. Most humanoids use local joint PID loops (decentralized) control systems while the robot is a multivariable system and walking involves significant interactions between the robot links. Hence in this paper a centralized LQR multivariable controller is designed for the robot and analyzed for its stability, robustness to noise and disturbances and dynamic performance. Then, an LQR based iterative algorithm is used to tune the local PID servos. A comparison between the two schemes is done, where it is shown that the multivariable LQR has better robustness and energy efficiency. Finally, both controllers are simulated using the linearized model of a 10 degree of freedom robot called "C-Cub".

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Modelling and Simulation of the Locomotion of Humanoid Robots

Cited by 8 publications

References 6 publications

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Rapid prototyping toolchain for humanoid robotics applications

A Comparison of Multivariable & Decentralized Control Strategies for Robust Humanoid Walking

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