FAST FORWARD DYNAMICS FOR THE HUMANOID ROBOT NAO V5
Embargo until
2024-08-01
Date
2020-07-17
Authors
Journal Title
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Publisher
Johns Hopkins University
Abstract
Since the first dynamics algorithm with O(n) computational complexity was developed by A. F. Vereshchagin in 1975, many efficient analytical and numerical methods for multibody dynamics have been studied for several decades. In this essay, some O(n) analytical methods were reviewed, and the method developed by K. Lee, Y. Wang, and G. S. Chirikjian was applied to a humanoid robot NAO V5 for efficient forward dynamics calculation of five kinematic chains (one head, two arms, and two legs). Once the generalized force terms are given as inputs, the joint acceleration can be calculated with O(n) computational complexity, which would be useful for sensor fusion, motion planning and control.
Description
Keywords
Forward dynamics, Mass matrix inversion