著者

中岡 慎一郎 服部 静子 金広 文男 梶田 秀司 比留川 博久

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2007 (ISSN:24243124)

巻号頁・発行日

pp._1A1-A08_1-_1A1-A08_4, 2007-05-11 (Released:2017-06-19)

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This paper describes a LCP-based method for calculating contact forces in dynamics simulation of humanoid robots. The method is based on the algorithm proposed by Kokkevis, and we propose additional procedures that make the algorithm more practical in the reality and numerical stability. The simulation system is verified by experiments using humanoid robot HRP-2, and the result shows the efficiency and validity of the method.