Rigid vs compliant contact: an experimental study on biped walking

摘要: Contact modeling plays a central role in motion planning, simulation and control of legged robots, as locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid compliant premise at interaction ports. Contrary dynamics systems with (without impact) which straightforward develop, there no consensus among researchers employ standard model. Our main goal this paper study structure bipedal walking novel model, present experimental validation both models. For contact, after developing articulated bodies flight phase without any environment, we apply holonomic constraints points develop constrained robot single double support phases. propose nonlinear simulate using In order show performance developed models, compare obtained results from these models empirical measurements human-size humanoid Surena III, has been designed fabricated CAST, University Tehran. This analysis shows merit estimating dynamic behavior on semi-rigid surface. less complex independent physical properties contacting bodies, can be employed for model-based optimization, well control, while more complexity suitable realistic scenarios.