A general on-the-fly algorithm for modifying the kinematic tree hierarchy

A general on-the-fly algorithm for modifying the kinematic tree hierarchy When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario—a passive planar biped walker.

[1]  M. McCall,et al.  Rigid Body Dynamics , 2008 .

[2]  K. Kreutz,et al.  A Spatial Operator Algebra For Manipulator Modeling And Control , 1988, Other Conferences.

[3]  M. A. Chace,et al.  ADAPTATION OF COMPUTER TECHNIQUES TO THE DESIGN OF MECHANICAL DYNAMIC MACHINERY , 1974 .

[4]  R. Featherstone.  The Calculation of Robot Dynamics Using Articulated-Body Inertias , 1983 .

[5]  Abhinandan Jain,et al.  Robot and Multibody Dynamics , 2011 .

[6]  Baldine-brunel Paul,et al.  Analytical dynamics of mechanisms—a computer oriented overview , 1975 .

[7]  Ian A. Hiskens,et al.  Stability of hybrid system limit cycles: application to the compass gait biped robot , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[8]  Abhinandan Jain.  Robot and Multibody Dynamics: Analysis and Algorithms , 2010 .

[9]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[10]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[11]  M. A. Chace,et al.  A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Part 1 , 1977 .

[12]  David E. Orin,et al.  Efficient Dynamic Computer Simulation of Robotic Mechanisms , 1982 .

[13]  Abhinandan Jain,et al.  A Spatial Operator Algebra for Manipulator Modeling and Control , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[14]  Roy Featherstone,et al.  Rigid Body Dynamics Algorithms , 2007 .

[15]  Benoit Thuilot,et al.  Compass-Like Biped Robot Part I : Stability and Bifurcation of Passive Gaits , 1996 .

[16]  David Baraff,et al.  Linear-time dynamics using Lagrange multipliers , 1996, SIGGRAPH.

[17]  R. Roberson,et al.  A dynamical formalism for an arbitrary number of interconnected rigid bodies, with reference to the problem of satellite attitude control. , 1966 .

[18]  N. Orlandea,et al.  A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Part 2 , 1977 .

[19]  Brian Mirtich,et al.  Impulse-based dynamic simulation of rigid body systems , 1996 .

[20]  Roy Featherstone,et al.  Robot Dynamics Algorithms , 1987 .

[21]  Arend L. Schwab,et al.  Dynamics of Multibody Systems , 2007 .

[22]  William W. Hooker,et al.  The Dynamical Attitude Equations for n-Body Satellite , 1965 .