Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach

H. Dallali, M. Mosadeghzad, G. A. Medrano-Cerda, N. Docquier, P. Kormushev, N. Tsagarakis, Z. Li, D. Caldwell

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper reports on development of an open source dynamic simulator for the Compliant huMANoid robot, COMAN. The key advantages of this simulator are: it generates efficient symbolic dynamical equations of the robot with high degrees of freedom, it includes a user-defined model of the actuator dynamics (the passive elasticity and the DC motor equations), user defined ground models and fall detection. Users have the freedom to choose the proposed features or include their own models. The models are generated in Matlab and C languages, where the user can leverage the power of Matlab and Simulink to carry out analysis to parameter variations or optimization and also have the flexibility of C language for realtime experiments on a DSP or FPGA chip. The simulation and experimental results of the robot as well as an optimization example to tune the ground model coefficients are presented. This simulator can be downloaded from the IIT website [1].
Original languageEnglish
Title of host publicationMechatronics (ICM), 2013 IEEE International Conference on
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)978-1-4673-1387-2
ISBN (Print)978-1-4673-1386-5
Publication statusPublished - 1 Feb 2013


  • C language
  • DC motors
  • actuators
  • digital signal processing chips
  • elasticity
  • field programmable gate arrays
  • humanoid robots
  • public domain software
  • C languages
  • DC motor equations
  • DSP chip
  • FPGA chip
  • Matlab languages
  • actuator dynamics
  • compliant humanoid robot
  • dynamic simulator development
  • high degrees of freedom
  • open source dynamic simulator
  • parameter variations
  • real-time experiments
  • symbolic dynamical equations
  • symbolic multibody approach
  • user defined ground models
  • user-defined model
  • Actuators
  • Computational modeling
  • Joints
  • Legged locomotion
  • Mathematical model

Fingerprint Dive into the research topics of 'Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach'. Together they form a unique fingerprint.

Cite this