Simulation of anthropomorphic walking robot dynamics in virtual environment systems

Abstract

This paper considers the task of real time dynamics simulation for anthropomorphic walking robots in virtual environment systems. To solve this task, an approach is proposed in which the motion of articulated rigid bodies system, representing an anthropomorphic robot, is described by absolute coordinates. In this approach, the dynamics simulation of the anthropomorphic robot is realized using the developed sequential impulses method, designed to ensure the constraints imposed on the body coordinates and velocities. Using the semi-implicit Euler scheme for integration of motion equations, the proposed solution allows one to realize the dynamics of articulated rigid bodies, the actuator dynamics in the robot joints, as well as the contact interaction of the robot's feet with the surface. Approbation of the methods and approaches proposed in this paper was carried out  in the virtual environment software complex created at the SRISA RAS and showed their adequacy and effectiveness by the example of performing technological operations in which the robot interacts with objects