ИСТИНА

In this paper, we discuss some very important features for getting exploitable simulation results for multibody systems, relying on the example of a humanoid robot. First, we provide a comparison of simulation speed and accuracy for kinematics modeling relying on relative vs. absolute coordinates. This choice is particularly critical for mechanisms with long serial chains (e.g. legs and arms). Compliance in the robot actuation chain is also critical to enhance the robot safety and energy efficiency, but makes the simulator more sensitive to modeling errors. Therefore, our second contribution is to derive the full electro-mechanical model of the inner dynamics of the compliant actuators embedded in our robot. Finally, we report our reasoning for choosing an appropriate contact library. The recommended solution is to couple our simulator with an open-source contact library offering both accurate and fast full-body contact modeling.