| Volume 24 Issue 11 - Publication Date: 1 November 2005 |
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| Solving Models of Controlled
Dynamic Planar Rigid-Body Systems with Frictional Contact |
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| A. Greenfield, U.
Saranli, and A. A. Rizzi Robotics Institute, Carnegie Mellon
University, Pittsburgh, PA 15213, USA |
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| 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. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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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 |
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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 |
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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 |
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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 |
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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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