Advertisement

Dynamic Simulation

  • Shuuji Kajita
  • Hirohisa Hirukawa
  • Kensuke Harada
  • Kazuhito Yokoi
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 101)

Abstract

Figure 6.1 shows a falling experiment of the humanoid robot HRP-2P. By performing a dynamic simulation, we can predict when and how strong the robot will hit the floor before actually performing such an experiment. It is also a powerful tool to develop a falling control method to minimize the landing impact and to develop durable hardware.

Keywords

Rigid Body Humanoid Robot Joint Torque Inverse Dynamic Biped Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Shuuji Kajita
    • 1
  • Hirohisa Hirukawa
    • 1
  • Kensuke Harada
    • 1
  • Kazuhito Yokoi
    • 1
  1. 1.Intelligent Systems Research, Institute Humanoid Research Group Tsukuba Central 2 National Institute of Advanced Industrial Science & Technology (AIST)TsukubaJapan

Personalised recommendations