INTERACTIVE DYNAMIC SIMULATOR FOR MULTIBODY SYSTEMS

被引：4
|
作者：
Chardonnet, Jean-Remy [1 ]
机构：
[1] CNRS, Le2i, Inst Image, Arts & Metiers ParisTech, F-71100 Chalon Sur Saone, France
来源：
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS | 2012年 / 9卷 / 03期
关键词：
Dynamic simulation; contact with friction; humanoid robot; haptic interaction; manipulation; framework; BODY CONTACT PROBLEMS; ALGORITHM; FRICTION; MOTION; ROBOT;
D O I：
10.1142/S0219843612500211
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We propose an interactive dynamic simulator for humanoid robots using constraint-based methods for computing interaction forces with friction. This simulator is a part of a general framework for prototyping called AMELIF and is a successful integration of physical models. We focus on optimizing the computation of the dynamics to obtain real-time simulations allowing multimodal interactivity. Our simulator has been validated in two ways: first by comparing real sensors' measures and simulated values, then through different scenarios of complex manipulation tasks on the HRP-2 humanoid robot, bringing new insights to interactive robotics.
引用
收藏
页数：24
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