Interactive Dynamic Simulator for Multibody Systems

Abstract : 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.
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International Journal of Humanoid Robotics, World Scientific Publishing, 2012, pp.1250021-1, 1250021-24. <10.1142/S0219843612500211>
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Jean-Rémy Chardonnet. Interactive Dynamic Simulator for Multibody Systems. International Journal of Humanoid Robotics, World Scientific Publishing, 2012, pp.1250021-1, 1250021-24. <10.1142/S0219843612500211>. <hal-00771985>

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