The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2007
Session ID : 1A1-A08
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1A1-A08 Dynamics simulation of humanoid robots using contact force calculation based on LCP
Shin'ichiro NAKAOKA, Shizuko HATTORI, Fumio KANEHIRO, Shuuji KAJITA, Hirohisa HIRUKAWA
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Keywords: dynamics simulation, linear complementarity problem (LCP), contact force, humanoid robot
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Abstract
This paper describes a LCP-based method for calculating contact forces in dynamics simulation of humanoid robots. The method is based on the algorithm proposed by Kokkevis, and we propose additional procedures that make the algorithm more practical in the reality and numerical stability. The simulation system is verified by experiments using humanoid robot HRP-2, and the result shows the efficiency and validity of the method.
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© 2007 The Japan Society of Mechanical Engineers
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