An exact dynamic model for the Thomas-K biped robot: New simulator design

Emre Sariyildiz, Hakan Temeltas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PublisherIEEE Computer Society
Pages2066-2071
Number of pages6
ISBN (Print)9781479939787
DOIs
Publication statusPublished - 2014
Event11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 - Tianjin, China
Duration: 3 Aug 20146 Aug 2014

Publication series

Name2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

Conference

Conference11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Country/TerritoryChina
CityTianjin
Period3/08/146/08/14

Keywords

  • Biped Robots
  • Floating Point Base Dynamics
  • Locomotion
  • Simulator Design

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