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Conference Papers Year : 2008

Constraint-based Ground contact handling in Humanoid Robotics Simulation

Joshua G. Hale
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Gordon Cheng
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  • PersonId : 856981


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.
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inria-00350114 , version 1 (05-01-2009)


  • HAL Id : inria-00350114 , version 1


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. ⟨inria-00350114⟩
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