Contact dynamics modeling of a humanoid robot for tasks utilizing impact dynamics

In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as ¿impact motion¿. This paper presents a contact dynamics model of a humanoid robot for such a motion. Multibody dynamics and effect of a servo controller on impulsive force are also considered in the proposed model. The proposed model can estimate impulsive force at low computation cost compared with full-featured dynamics computation methods. The estimation results of each motion are compared with simulation results by OpenHRP3. The maximum error of impulse is about 6 (%). Therefore, the proposed model is useful for estimating dynamics behavior of a humanoid robot.