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Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach
File(s)
Dallali_ICM-2013.pdf (1.18 MB)
Accepted version
Author(s)
Dallali, Houman
Mosadeghzad, Mohamad
Medrano-Cerda, Gustavo A
Docquier, Nicolas
Kormushev, Petar
Type
Conference Paper
Abstract
This paper reports on development of an open source dynamic simulator for the Compliant huMANoid robot, COMAN. The key advantages of this simulator are: it generates efficient symbolic dynamical equations of the robot with high degrees of freedom, it includes a user-defined model of the actuator dynamics (the passive elasticity and the DC motor equations), user defined ground models and fall detection. Users have the freedom to choose the proposed features or include their own models. The models are generated in Matlab and C languages, where the user can leverage the power of Matlab and Simulink to carry out analysis to parameter variations or optimization and also have the flexibility of C language for realtime experiments on a DSP or FPGA chip. The simulation and experimental results of the robot as well as an optimization example to tune the ground model coefficients are presented. This simulator can be downloaded from the ΠΤ website [1]. © 2013 IEEE.
Date Issued
2013
Date Acceptance
2013-02-27
Citation
Mechatronics (ICM), 2013 IEEE International Conference on, 2013, pp.598-603
URI
URL
DOI
ISBN
978-1-4673-1386-5
Publisher
IEEE
Start Page
598
End Page
603
Journal / Book Title
Mechatronics (ICM), 2013 IEEE International Conference on
Copyright Statement
© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
License URL
Identifier
http://kormushev.com/papers/Dallali_ICM-2013.pdf
Source
2013 IEEE International Conference on Mechatronics (ICM)
Publication Status
Published
Publisher URL
Start Date
2013-02-27
Finish Date
2013-03-01
Coverage Spatial
Vicenza