Constraint-based Ground contact handling in Humanoid Robotics Simulation

Eduardo Martin Moraud 1, 2 Joshua G. Hale 2 Gordon Cheng 2
1 CORTEX - Neuromimetic intelligence
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
2 ATR Computational Neuroscience Lab
Abstract : This paper presents a method for resolving contact in dynamic simulations of articulated figures. It is intended for humanoids with polygonal feet and incorporates Coulomb friction exactly. The proposed technique is based on a constraint selection paradigm. Its implementation offers an exact mode which guarantees correct behavior, as well as an efficiency optimized mode which sacrifices accuracy for a tightly bounded computational burden, thus facilitating batch simulations or the use of highly detailed foot models. The method has been applied to the simulation of two humanoid robots, CB and Hoap-2, and validated with respect to human and robot motions recorded in reality and in simulation. The friction parameters of contact have also been established empirically.
Keywords : Simulation Ground-contact Humanoid Robotics
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Conference papers
2008 IEEE/RAS International Conference on Robotics and Automation - ICRA 2008 Workshop on Contact Models for Manipulation and Locomotion, May 2008, Pasadena, CA, United States. 2008
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Eduardo Martin Moraud, Joshua G. Hale, Gordon Cheng. Constraint-based Ground contact handling in Humanoid Robotics Simulation. 2008 IEEE/RAS International Conference on Robotics and Automation - ICRA 2008 Workshop on Contact Models for Manipulation and Locomotion, May 2008, Pasadena, CA, United States. 2008. 〈inria-00350114〉

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