Scheduled System Maintenance on May 29th, 2015:
IEEE Xplore will be upgraded between 11:00 AM and 10:00 PM EDT. During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

A penalty-based approach for contact forces computation in bipedal robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Rengifo, C. ; IRCCyN, Univ. de Nantes, Nantes, France ; Aoustin, Y. ; Chevallereau, C. ; Plestan, F.

Computation of contact forces is essential for the simulation of mechanical systems with unilateral constraints, like bipedal robots. Most methods are based on the rigid body assumption. They can be categorized into constraint-based and penalty-based approaches. In the former, contact forces are computed by solving an optimization problem based on linear or nonlinear complementarity conditions. Unfortunately, these methods cannot be directly applied to articulated systems described in generalized coordinates. In the second approach, spring-damper models are used to minimize interpenetration between the surfaces in contact. The main criticism to penalty approaches are parameter tuning, static friction handling, and the difficulties to treat multiple simultaneous unilateral contacts. In this work we present a new compliant approach based on input-output feedback linearization. The main advantages of the proposed approach are, the spring-damper parameters are independent of the parameters of the system (i.e masses, inertias), no a priori-defined velocity thresholds are required to distinguish between dynamic and static friction, multiple simultaneous unilateral contacts are naturally handled. The proposition has been successfully applied to the simulation of a 3D bipedal walking robot.

Published in:

Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on

Date of Conference:

7-10 Dec. 2009