Multimedia  

 

Volume 24 Issue 11 - Publication Date: 1 November 2005
 
Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact
 
A. Greenfield, U. Saranli, and A. A. Rizzi Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA
 
Effective modeling and control of multibody systems interacting with their environment through frictional contact remains a challenging problem. In this paper, we address the planar version of this problem by developing a general method to compute the instantaneous dynamic solution for planar rigid bodies interacting with their environment through Coulomb frictional contacts. The resulting analytical forward solution is represented in piecewise linear form, which admits tractable inversion for implementing behavioral control. We address the inherent problem of ambiguity in the resulting model (both between and within a particular linear model) by resorting to enumeration techniques and solve for the complete collection of possible model solutions in the presence of both contact constraints and additional task-specific linear constraints. We illustrate the application of these techniques by developing a controller to reliably achieve the dynamic self-righting of a hexapod robot.
 
Multimedia Key
= Video = Data = Code = Image
 
Extension
Type
Description
1
Example 1: LinoleumSingleShot.mpg. Highspeed video (150fps) of RHex 1.5 flipping on linoleum with the blind controller. (1.5 MB)
2
Example 2: blind_0.39.mpg. Slow motion animation of a planar flipping simulation with the blind controller on a surface with µt = 0.39. (1.4 MB)
3
Example 3: blind_0.6.mpg. Slow motion animation of a planar flipping simulation with the blind controller on a surface with µt = 0.6. (1.7 MB)
4
Example 4: improved_0.39.mpg. Slow motion animation of a planar flipping simulation with the improved controller on a surface with µt = 0.39. (1.3 MB)
5
Example 5: improved_0.6.mpg. Slow motion animation of a planar flipping simulation with the improved controller on a surface with µt = 0.6. (1.5 MB)
6
Example 6: data_scripts.tar.gz. Data files and visualization scripts for all the experiments and simulations. Please see README.txt in this archive for details on the format of data files and the usage of associated scripts. (3.8 MB)
7
Example 7: code.tar.gz. Simulation code used to generate all data in the paper. Please see README.txt in this archive for details on how to compile and use the simulator. (0.4 MB)
 
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