With this work we introduce a novel methodology for the simulation of walking of a humanoid robot. Motion capture technology is used to calibrate the dynamics engine internal parameters and validate the simulated motor task. Results showed the calibrated contact model allows predicting dynamically consistent ground reaction forces and producing realistic whole-body kinematics.

Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots

VIVIAN, MICHELE;REGGIANI, MONICA;SARTORI, MASSIMO
2013

Abstract

With this work we introduce a novel methodology for the simulation of walking of a humanoid robot. Motion capture technology is used to calibrate the dynamics engine internal parameters and validate the simulated motor task. Results showed the calibrated contact model allows predicting dynamically consistent ground reaction forces and producing realistic whole-body kinematics.
2013 IEEE International Conference on Robotics and Automation
9781467356411
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/2683784
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