Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms

  title={Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms},
  author={Shinichiro Nakaoka and Shizuko Hattori and Fumio Kanehiro and Shuuji Kajita and Hirohisa Hirukawa},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
We propose a simulation system that achieves realistic and efficient simulations of humanoid robots. This paper focuses on a constraint-based contact force solver and virtual spring-damper joints from among the components of the system. The contact force solver can accurately simulate contacts between rigid bodies including articulated rigid bodies. LCP-like formulation of constraint conditions is solved by an iterative calculation method that extends the Gauss-Seidel method. This paper… CONTINUE READING
Highly Cited
This paper has 76 citations. REVIEW CITATIONS
46 Citations
17 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 46 extracted citations

77 Citations

Citations per Year
Semantic Scholar estimates that this publication has 77 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 17 references

Linear Complementality, Linear and Nonlinear Programming

  • K. G. Murty
  • Helderman-Verlag,
  • 1998
Highly Influential
12 Excerpts

Computation of three-dimensional rigidbody dynamics with multiple unilateral contacts using time-stepping and gauss-seidel methods

  • T. Liu, M. Y. Wang
  • IEEE Transaction of Automation Science and…
  • 2005
1 Excerpt

Similar Papers

Loading similar papers…