DocumentCode
3518130
Title
Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots
Author
Vivian, Michele ; Reggiani, Monica ; Sartori, M.
Author_Institution
Dept. of Manage. & Eng., Univ. of Padua, Padua, Italy
fYear
2013
fDate
6-10 May 2013
Firstpage
1643
Lastpage
1648
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.
Keywords
humanoid robots; legged locomotion; optimisation; robot dynamics; robot kinematics; contact parameters; engine internal parameters; ground reaction forces; humanoid robot dynamics simulation; humanoid robot walking simulation; motor task; optimization; robot whole-body kinematics; Computational modeling; Dynamics; Force; Friction; Kinematics; Legged locomotion;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location
Karlsruhe
ISSN
1050-4729
Print_ISBN
978-1-4673-5641-1
Type
conf
DOI
10.1109/ICRA.2013.6630790
Filename
6630790
Link To Document