Interactive Dynamic Simulator for Multibody Systems
dc.contributor.author
hal.structure.identifier | CHARDONNET, Jean-Rémy
|
dc.date.accessioned | 2013 |
dc.date.available | 2013 |
dc.date.issued | 2012 |
dc.date.submitted | 2012 |
dc.identifier.citation | Int. J. Human. Robot., 09, 1250021 (2012) [24 pages] |
dc.identifier.issn | 0219-8436 |
dc.identifier.uri | http://hdl.handle.net/10985/6680 |
dc.description.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. |
dc.description.sponsorship | Immersence EU CEC project, contract No. 27141 (FP6) |
dc.language.iso | en_US |
dc.publisher | World Scientific Publishing |
dc.rights | Post-print |
dc.subject | Dynamic simulation |
dc.subject | contact with friction |
dc.subject | humanoid robot |
dc.subject | haptic interaction |
dc.subject | manipulation |
dc.subject | framework |
dc.title | Interactive Dynamic Simulator for Multibody Systems |
dc.identifier.doi | 10.1142/S0219843612500211 |
dc.typdoc | Article dans une revue avec comité de lecture |
dc.localisation | Centre de Cluny |
dc.localisation | Institut de Chalon sur Saône |
dc.subject.hal | Informatique: Modélisation et simulation |
dc.subject.hal | Informatique: Robotique |
ensam.audience | Internationale |
ensam.page | 1250021-1, 1250021-24 |
ensam.journal | International Journal of Humanoid Robotics |
hal.identifier | hal-00771985 |
hal.version | 1 |
hal.submission.permitted | updateFiles |
hal.status | accept |