S. van Noort
- Validation of the dynamics of an humanoid robot in USARSim
- NIST Special Publication
- Pages (from-to)
- Document type
- Faculty of Science (FNWI)
- Informatics Institute (IVI)
This paper describes a model to replicate the dynamics of a walking robot inside USARSim. USARSim is an existing 3D simulator based on the Unreal Engine, which provides facilities for good quality rendering, physics simulation, networking, a highly versatile scripting language and a powerful visual editor. To model the dynamics of a walking robot the balance of the robot in relation with the contact points of the body with the environment has to be calculated. To guarantee a fast frame rate several approximations in this calculation have to be tried, and the performance (both in dynamics and computational effort) is evaluated in a number of experiments. This extension is made and validated for the humanoid robot Nao. On this basis many other applications become possible. A validated simulation allows us to develop and to experiment with typical robotic tasks before they are tested on a real robot.
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- Proceedings title: 2012 proceedings of the Performance Metrics for Intelligent Systems (PerMI'12) Workshop
Publisher: US Department of Commerce, National Institute of Standards and Technology
Place of publication: Gaithersburg, MD
Editors: R. Madhavan, E.R. Messina, B.A. Weiss
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