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

@article{Nakaoka2007ConstraintbasedDS,
  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},
  year={2007},
  pages={3641-3647}
}
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
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