APPLICATIONS OF THE VIRTUAL INTELLIGENT PORTABLE VIPRO PLATFORM FOR 3D CONTACT PROBLEMS WITH FRICTION IN THE HUMANOID ROBOTS CONTROL

Abstract

In this paper we investigate the influence of the friction force while the robot is doing different actions. By computing the limit conditions for the robot walking according to the friction force between ground and feet, we have found the maximum safe values for a walking step and other stability conditions, according to the walking slope and type of the support surface. The motion trajectory positions of the robot leg end-effector and joints with reaction forces are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The presented simulations demonstrate through a numeric modeling of the 3D contact problems with friction, that we can detect the slip/stick phenomenon for a walking robot motion on a uneven terrain, so it can improve the real time control to predict and avoid robot overthrow. The obtained results lead to the development of new technological capabilities of the control systems.