Visually interactive robot simulator

A robot simulator made for studying the visual interaction while biped walking in the complex environment is presented in this paper. We discussed the structure of the simulator made of several modules. The key communication tool is a set of task parameters associated with the primitives that made obstacles or ground of the environment. The model of the joint trajectories representing biped´s behaviour given the task is used to run efficient walk. They are made of carefully tailored toe and hip trajectories in specific phases of walk. By ZMP location we proved that the trajectories produce balanced walk. The result of the walk, trajectory of robot´s head, is fed into virtual environment to observe how robot would see it while walking. The environment is made in OpenGL and both, model-based robot animation and the simulation of the environment are running smoothly on-line, what wasn´t the case with the cumbersome redundancy resolutions we needed to apply before modelling.