Dynamic simulation of biped walking on loose soil

Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Xin Jiang, Masaru Uchiyama

Research output: Contribution to journalArticle

Abstract

Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.

Original languageEnglish
Article number1250032
JournalInternational Journal of Humanoid Robotics
Volume9
Issue number4
DOIs
Publication statusPublished - 2012 Dec
Externally publishedYes

Fingerprint

Soils
Computer simulation
Robots
Simulators
Experiments

Keywords

  • Biped walking
  • loose soil
  • terramechanics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering

Cite this

Dynamic simulation of biped walking on loose soil. / Komizunai, Shunsuke; Konno, Atsushi; Abiko, Satoko; Jiang, Xin; Uchiyama, Masaru.

In: International Journal of Humanoid Robotics, Vol. 9, No. 4, 1250032, 12.2012.

Research output: Contribution to journalArticle

Komizunai, Shunsuke ; Konno, Atsushi ; Abiko, Satoko ; Jiang, Xin ; Uchiyama, Masaru. / Dynamic simulation of biped walking on loose soil. In: International Journal of Humanoid Robotics. 2012 ; Vol. 9, No. 4.
@article{65fde3ba45cc4fa0b6db842c0f54d853,
title = "Dynamic simulation of biped walking on loose soil",
abstract = "Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.",
keywords = "Biped walking, loose soil, terramechanics",
author = "Shunsuke Komizunai and Atsushi Konno and Satoko Abiko and Xin Jiang and Masaru Uchiyama",
year = "2012",
month = "12",
doi = "10.1142/S0219843612500326",
language = "English",
volume = "9",
journal = "International Journal of Humanoid Robotics",
issn = "0219-8436",
publisher = "World Scientific Publishing Co. Pte Ltd",
number = "4",

}

TY - JOUR

T1 - Dynamic simulation of biped walking on loose soil

AU - Komizunai, Shunsuke

AU - Konno, Atsushi

AU - Abiko, Satoko

AU - Jiang, Xin

AU - Uchiyama, Masaru

PY - 2012/12

Y1 - 2012/12

N2 - Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.

AB - Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.

KW - Biped walking

KW - loose soil

KW - terramechanics

UR - http://www.scopus.com/inward/record.url?scp=84872858573&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84872858573&partnerID=8YFLogxK

U2 - 10.1142/S0219843612500326

DO - 10.1142/S0219843612500326

M3 - Article

AN - SCOPUS:84872858573

VL - 9

JO - International Journal of Humanoid Robotics

JF - International Journal of Humanoid Robotics

SN - 0219-8436

IS - 4

M1 - 1250032

ER -