The Calculation of Robot Dynamics Using Articulated-Body Inertias

Featherstone, Roy

doi:10.1177/027836498300200102

Cited by 503 publications

(246 citation statements)

References 9 publications

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“…Prominent algorithms for solving this problem are the Composite Rigid Body Algorithm (CRBA) [8] and the Articulated Body Algorithm (ABA) [9], cf. [7].…”

Section: A Multibody System Dynamicsmentioning

confidence: 99%

Adequate motion simulation and collision detection for soccer playing humanoid robots

Friedmann

Petersen

Stryk

2009

Robotics and Autonomous Systems

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Abstract-In this paper a humanoid robot simulator built with the Multi-Robot-Simulation-Framework (MuRoSimF) is presented. Among the unique features of the this simulator is the scalability in the level of physical detail in both the robot's motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League.Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties where as testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it neccessary to model a robot multiple times and to integrate different simulations with high-level robot control software.MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therfore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multibody system dynamics algorithms.In this paper the sensor simulation capabilities of MuRoSimF are revised and the algorithms for motion simulation and collision detection and handling are presented in detail. An algorithm is presented which allows the real time simulation of the full dynamics of a 21 DOF humanoid robot. Special consideration is given to the merits and drawbacks of the different algorithms depending on the scenario. The simulation's performance is measured and comparisons with the experimental performance of the humanoid robots are given.

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“…Prominent algorithms for solving this problem are the Composite Rigid Body Algorithm (CRBA) [8] and the Articulated Body Algorithm (ABA) [9], cf. [7].…”

Section: A Multibody System Dynamicsmentioning

confidence: 99%

Adequate motion simulation and collision detection for soccer playing humanoid robots

Friedmann

Petersen

Stryk

2009

Robotics and Autonomous Systems

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“…It is especially worth noticing the analogies between the optimal filtering theory and robot dynamics [8] that gave foundations for various mass matrix factorizations of a manipulator. The idea of articulated body inertias (ABI) for solving the equations of motion for an n-link manipulator, originally introduced by Featherstone [9], expanded into various forms and flavors. A summary of ABI-like algorithms can be found in [10].…”

Section: Introductionmentioning

confidence: 99%

A parallel Hamiltonian formulation for forward dynamics of closed-loop multibody systems

2016

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This paper presents a novel recursive divide-and-conquer formulation for the simulation of complex constrained multibody system dynamics based on Hamilton's canonical equations (HDCA). The systems under consideration are subjected to holonomic, independent constraints and may include serial chains, tree chains, or closed-loop topologies. Although Hamilton's canonical equations exhibit many advantageous features compared to their acceleration based counterparts, it appears that there is a lack of dedicated parallel algorithms for multi-rigid-body system dynamics based on the Hamiltonian formulation. The developed HDCA formulation leads to a two-stage procedure. In the first phase, the approach utilizes the divide and conquer scheme, i.e., a hierarchic assembly-disassembly process to traverse the multibody system topology in a binary tree manner. The purpose of this step is to evaluate the joint velocities and constraint force impulses. The process exhibits linear O(n) (n -number of bodies) and logarithmic O(log 2 n) numerical cost, in serial and parallel implementations, respectively. The time derivatives of the total momenta are directly evaluated in the second parallelizable step of the algorithm. Sample closed-loop test cases indicate very small constraint violation errors at the position and velocity level as well as marginal energy drift without any additional form of constraint stabilization techniques involved in the solution process. The results are comparatively set against more standard acceleration based Featherstone's DCA approach to indicate the performance of the HDCA algorithm.

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“…Efficient algorithms with O(n) complexity are well known from literature [2], [4]. Unfortunately their application for Modelica.Mechanics.MultiBody proves to be difficult since these algorithms rely on special knowledge about the multibody systems which is not available in a general equation based framework like Modelica.…”

Section: Introductionmentioning

confidence: 99%