Interactive Dynamic Simulator for Multibody Systems
Type
Articles dans des revues avec comité de lectureDate
2012Journal
International Journal of Humanoid RoboticsAbstract
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.
Files in this item
Related items
Showing items related by title, author, creator and subject.
-
CHARDONNET, Jean-Rémy; LEON, Jean-Claude (IEEE, 2012)This paper presents a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. Based on the results of users’ tests on previous versions of our device and on the analysis of ...
-
LÉON, Jean-Claude; DUPEUX, Thomas; CHARDONNET, Jean-Rémy; PERRET, Jérôme (ASME, 2016)The simulation of grasping operations in virtual reality (VR) is required for many applications, especially in the domain of industrial product design, but it is very difficult to achieve without any haptic feedback. Force ...
-
CHARDONNET, Jean-Rémy; LEON, Jean-Claude (2013)L’invention concerne un périphérique d’interaction (1) apte à contrôler un élément de toucher et de préhension d’objets virtuels multidimensionnels, comportant au moins deux modules d’interaction (20), chaque module ...
-
CHARDONNET, Jean-Rémy; LEON, Jean-Claude (2015)An interaction peripheral device capable of controlling an element for touching and grasping multidimensional virtual objects, including at least two interaction modules, each interaction module being intended to be actuated ...
-
CHARDONNET, Jean-Rémy; LEON, Jean-Claude (2012)We present a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. This prototype is as easy as a mouse to use and allows the control of a high number of degrees of freedom ...