TY - GEN
T1 - An exact dynamic model for the Thomas-K biped robot
T2 - 11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
AU - Sariyildiz, Emre
AU - Temeltas, Hakan
PY - 2014
Y1 - 2014
N2 - In this paper, the dynamic model of the Thomas-K biped robot, which was built at Ohnishi laboratory in Keio University, is derived, and a new efficient dynamic simulator is proposed. Although the dynamic model of bipedal locomotion is considered in this paper, the proposed model can be easily implemented any kind of floating point base robotic systems, such as mobile robots, space robots and so on. The Thomas-K biped robot has totally 16-degrees of freedom, in which 10 degrees of freedom can be controlled directly. Therefore, it is not an easy task to derive the conventional closed form dynamic model of the Thomas-K. Firstly, it is derived by using a Newton-Euler algorithm which is conventionally used to derive the dynamic models of biped robots. However, it does not give deep insight into the dynamics of bipedal locomotion. Besides, the Newton-Euler algorithm provides only inverse dynamics; therefore, it should be run recursively, which increases computational load, to derive the conventional closed form dynamic model, i.e., forward dynamics. Secondly, the inertia matrix and gravity vector are derived analytically. It simplifies the model and gives better insight into the dynamics of bipedal locomotion. However, the Coriolis and centrifugal forces are derived by using the Newton-Euler algorithm. A simple virtual spring-damper collision model is used to simulate the contact between the robot's soles and floor. The virtual spring-damper model makes the contact model easier than the plastic collision one and improves the performance of the simulation, significantly. Center of mass (CoM) of the robot is controlled in the single support phase in order to show the validity of the models.
AB - In this paper, the dynamic model of the Thomas-K biped robot, which was built at Ohnishi laboratory in Keio University, is derived, and a new efficient dynamic simulator is proposed. Although the dynamic model of bipedal locomotion is considered in this paper, the proposed model can be easily implemented any kind of floating point base robotic systems, such as mobile robots, space robots and so on. The Thomas-K biped robot has totally 16-degrees of freedom, in which 10 degrees of freedom can be controlled directly. Therefore, it is not an easy task to derive the conventional closed form dynamic model of the Thomas-K. Firstly, it is derived by using a Newton-Euler algorithm which is conventionally used to derive the dynamic models of biped robots. However, it does not give deep insight into the dynamics of bipedal locomotion. Besides, the Newton-Euler algorithm provides only inverse dynamics; therefore, it should be run recursively, which increases computational load, to derive the conventional closed form dynamic model, i.e., forward dynamics. Secondly, the inertia matrix and gravity vector are derived analytically. It simplifies the model and gives better insight into the dynamics of bipedal locomotion. However, the Coriolis and centrifugal forces are derived by using the Newton-Euler algorithm. A simple virtual spring-damper collision model is used to simulate the contact between the robot's soles and floor. The virtual spring-damper model makes the contact model easier than the plastic collision one and improves the performance of the simulation, significantly. Center of mass (CoM) of the robot is controlled in the single support phase in order to show the validity of the models.
KW - Biped Robots
KW - Floating Point Base Dynamics
KW - Locomotion
KW - Simulator Design
UR - http://www.scopus.com/inward/record.url?scp=84906968661&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2014.6886022
DO - 10.1109/ICMA.2014.6886022
M3 - Conference contribution
AN - SCOPUS:84906968661
SN - 9781479939787
T3 - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
SP - 2066
EP - 2071
BT - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PB - IEEE Computer Society
Y2 - 3 August 2014 through 6 August 2014
ER -