Interactive Dynamic Simulator for Multibody Systems

Jean-Rémy Chardonnet (1)

1 Le2i - Laboratoire Electronique, Informatique et Image [UMR6306]

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.

Mots clés: Dynamic simulation; contact with friction; humanoid robot; haptic interaction; manipulation; framework

Domaines: Modélisation et simulation; Robotique [cs.RO]

Jean-Rémy Chardonnet. Interactive Dynamic Simulator for Multibody Systems. International Journal of Humanoid Robotics, 2012, pp.1250021-1, 1250021-24. ⟨10.1142/S0219843612500211⟩. ⟨hal-00771985⟩