成果報告書詳細
管理番号20150000000527
タイトル*平成26年度中間年報 環境・医療分野の国際研究開発・実証プロジェクト ロボット分野の国際研究開発・実証事業 Choreonoidフレームワークを用いた災害対応ロボットシミュレータの研究開発(3)
公開日2016/1/27
報告書年度2014 - 2014
委託先名国立大学法人九州大学
プロジェクト番号P12001
部署名ロボット・機械システム部
和文要約
英文要約Summary of Research Achievements for the Fiscal Year 2014.
Ryo Kikuuwe, Associate Professor, Kyushu University

In this research project, Kyushu University worked on the improvement of a part of Choreonoid for simulating friction phenomena. To appropriately simulate the behavior of robots, the modeling of the friction phenomena is an important issue. Friction phenomena between two objects involve two distinctly different states: kinematic friction state and static friction state. The friction force is also expressed as a discontinuous function of the relative velocity between the objects. The handling of this discontinuous nature in digital computation is not an easy problem and small errors in the conditional branches in the program cause unnatural behaviors of the simulated world, such as unbounded drift under external forces smaller than the maximum static friction force. This research project aimed to implement a new algorithm that does not cause such problems to the Choreonoid framework.

Through a careful observation of the problem, we have found that the force (the sum of the contact force and the friction force) and the velocity must be determined so that they satisfy a particular condition defined by the friction cone and the inertia matrix. This problem has already been investigated by researchers at INRIA (French National Institute of Research in Informatics and Automation), and they provide a useful simulation software. The software, which is called "SICONOS," includes functions for many numerical problems, such as linear complementarity problems and cone complementarity problems, which appear in the simulation of various nonsmooth dynamical systems.

In this fiscal year, we have developed a software named "SiconosPlugin" or "SiconosPlugin for Choreonoid." This program is a plugin that can be embedded from Choreonoid, and have access to some of SICONOS functions. By using this program, the friction forces are mathematically appropriately computed at each time step.

This new program is now publicly available from GitHub, a web-based file sharing service for software programs, under the GNU General Public License (GPL). The URL is as follows:

https://github.com/kikuuwe/SiconosPlugin_for_Choreonoid/
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