Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity

Lens, Thomas; Radkhah, Katayon; Stryk, Oskar von

doi:10.1109/icar.2011.6088619

“…This not only includes kinematics and kinetics, but also specific actuation and, most importantly, ground contact models. For this purpose, a special multibody simulation toolbox incorporating a realistic contact model has been developed in MATLAB/Simulink [19]. Due to limited space, this section only briefly reviews the modeling and simulation of BioBiped1.…”

Section: Mbs Dynamics Simulationmentioning

confidence: 99%

Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1

Radkhah

¹

,

Stryk

²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Actuation with variable elasticity is considered a key property for the realization of human-like bipedal locomotion. Also, an intelligent and self-stable mechanical system is indispensable. While much effort of current research has been devoted to the development of variable impedance joint actuators, this paper deals with the important question of how to determine the actuation requirements of a compliant, musculoskeletal robot that is targeted at fast dynamic motions. In a step-by-step approach, design decisions for the elastic humanoid robot BioBiped1 are presented. Using multibody system dynamics models and simulations, incorporating bidirectional series elastic actuator models and a realistic ground contact model, we analyze the actuation requirements of the employed electrical motors for computer generated hopping and human data based running motions. The numerical simulation results are accompanied by videos of the dynamics simulations. Recent experiments on the real hardware have indicated that the selected motor-gear units and elastic transmissions support the desired dynamic motion goals.

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“…This not only includes kinematics and kinetics, but also specific actuation and, most importantly, ground contact models. For this purpose, a special multibody simulation toolbox incorporating a realistic contact model has been developed in MATLAB/Simulink [19]. Due to limited space, this section only briefly reviews the modeling and simulation of BioBi-ped1.…”

Section: Mbs Dynamics Simulationmentioning

confidence: 99%

Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1

Radkhahy¹,

Stryk²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Actuation with variable elasticity is considered a key property for the realization of human-like bipedal locomotion. Also, an intelligent and self-stable mechanical system is indispensable. While much effort of current research has been devoted to the development of variable impedance joint actuators, this paper deals with the important question of how to determine the actuation requirements of a compliant, musculoskeletal robot that is targeted at fast dynamic motions. In a step-by-step approach, design decisions for the elastic humanoid robot BioBiped1 are presented. Using multibody system dynamics models and simulations, incorporating bidirectional series elastic actuator models and a realistic ground contact model, we analyze the actuation requirements of the employed electrical motors for computer generated hopping and human data based running motions. The numerical simulation results are accompanied by videos of the dynamics simulations. Recent experiments on the real hardware have indicated that the selected motor-gear units and elastic transmissions support the desired dynamic motion goals.

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“…The effective mass, or reflected inertia, at the end effector is given by the operational space inertia matrix Λ c [22] …”

Section: A Dynamic Impactmentioning

confidence: 99%

Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm

Lens

¹

,

Stryk

²

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents the design of the lightweight BioRob manipulator with spring-loaded tendon-driven actuation developed for safe physical human-robot interaction. The safety of the manipulator is analyzed by an analytical worstcase estimation of impact and clamping forces in the absence of collision detection. As intrinsic joint compliance can pose a threat by storing energy, a safety evaluation method is proposed taking the potential energy stored in the elastic actuation into account. The evaluation shows that the robot arm design constrains the worst case clamping forces to only 25 N, while being able to handle loads up to 2 kg, and inherits extremely low impact properties, such as an effective mass of less than 0.4 kg in non near-singular configurations, enabling safe operation even in case of high velocities. The results are validated in simulation and experiments.

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Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity

Cited by 20 publications

References 20 publications

Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1

Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1

Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1

Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm

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