Interpreter based interactive robot simulator to realize dynamics effects caused by robot kinematic actions

This paper presents a new interpreter based robot simulator to achieve dynamics simulation effects of robot kinematic actions. Previous robot simulators use either kinematic or dynamic mode for the robot simulation. For that reason, the robot couldn´t handle environment models in the robot simulator properly and easily. And also they cannot be interactively controlled, because their simulation was based on batch processing. To solve this problem, we propose a new interpreter based robot simulator to control both kinematic and dynamic simulation modes interactively. By this approach, the robot can easily handle environment models, and also the robot simulator can compute dynamics simulation effects as a result of the robot kinematic actions. In the following experiments, we demonstrate that our interpreter based robot simulator can simulate multi-body dynamics and gravity effects of object models caused by the humanoid robot kinematic actions.