General description
HRSP is a software platform for customized modeling of humanoid robots. It represents MATLAB/SIMULINK engineering toolbox designed for the computation of biped robot and/or human kinematics and dynamics for the given kinematic/geometry and dynamic parameters. Besides, HRSP provides a possibility to simulate the biped system behavior for various control laws including different feedback loops (position, speed, contact force, joint payloads, Zero Moment Point relative position, etc.). HRSP runs on PC computer under Windows XP operating system.
Trajectory generation
HRSP – Trajectory generation module
calculates reference (nominal) biped motion depending on the imposed task and
basic gait
parameters: (i) forward speed, (ii) type of the path
(linear, non-linear), (iii) step length, (iv) step
height, as well as a profile of the supporting surface (flat, inclined,
incremental - stairs like, etc).
Kinematic models
HRSP-Robot kinematics module computes the homogeneous transformation matrices between the end-links (biped feet, hands, head) coordinate frames and the base reference frame attached to the mass center of the pelvis link as a basis. HRSP also determines the Jacobian matrices that corresponds to the biped tip points positions (end-points of the feet links, hands, and head link) and corresponding angular velocities. Two types of Jacobian matrices are available: The lump Jacobian matrix with respect to the basis frame, and the Jacobian matrices for the particular side-branch chains of a biped mechanism. HRSP takes into account the special structure of each biped mechanism and kinematic characteristics are defined by Denavit-Hartenberg notation. For example, a spatial non-linear 38 degrees of freedom biped model was designed and simulated. Validity of the model was checked by comparation of the simulation results and corresponding experimental measurements obtained using biological system (human body) in different gait phases.
Dynamic models
HRSP-Robot dynamics module can generate: (i) complete driving torques in the biped system (robot) joints, (ii) the inertial matrix, (iii) the vector of gravitational forces, (iv) the vector of Coriolis and centrifugal terms, (v) the vector of gravitational, Coriolis and centrifugal terms, (vi) ground reaction forces at the robot feet, and (vii) relative position of the Zero Moment Point (ZMP) with respect to the center of the supporting polygon.
Control Laws Source Code Generation
There is a variety of available control law structures that HRSP can generate starting from the simplest PID regulators to the most complex dynamic control laws, such as computed torque method, hybrid position-force control, impedance control, intelligent knowledge-based control, etc. The user may define the own algebraic expression of the desired control law, and the HRSP will test the dynamic performances of the desired closed loop system.
System Simulation
HRSP enables simulation of the entire dynamics of the mechanical part of the system and actuators (DC motors). The user should specify the parameters that are needed during the simulation: altered dynamic parameters of the system, white noise variance for the measured signals, different sampling periods, initial position, velocity and currents, acquisition data during the simulation. Graphical presentation of the simulation results is included, too.
Potential users