HUBOT--A Modeling and Simulation Platform Based on PhysX for Multi-link Robot

Author

Sun, Yichao ; Xiong, Rong ; Chu, Jian

Author_Institution

Inst. of Cyber Syst. & Control, Zhejiang Univ., Hangzhou, China

fYear

2011

fDate

15-16 May 2011

Firstpage

35

Lastpage

39

Abstract

This paper presents HUBOT - a modeling and simulation platform specialized for multi-link robots. We use PhysX as the dynamics solver so that we can manipulate various physics parameters of the robot directly. Visualization is also supported based on OpenGL rendering environment. HUBOT solves kinematics and dynamics among the robot and the environment, sensor data simulation is also implemented to help evaluate robot status and test control algorithms. A biped walking simulation of a humanoid robot is presented as a demonstration of our simulation platform.

Keywords

humanoid robots; legged locomotion; multi-robot systems; rendering (computer graphics); robot vision; HUBOT; OpenGL rendering; PhysX; biped walking simulation; humanoid robot; modeling platform; multi-link robot; simulation platform; visualization; Data models; Heuristic algorithms; Joints; Load modeling; Physics; Robot sensing systems; multi-link model; physics engine; robot simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Digital Media and Digital Content Management (DMDCM), 2011 Workshop on

Conference_Location

Hangzhou

Print_ISBN

978-1-4577-0271-6

Electronic_ISBN

978-0-7695-4413-7

Type

conf

DOI

10.1109/DMDCM.2011.27

Filename

5959672