Title :
Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots
Author :
Vivian, Michele ; Reggiani, Monica ; Sartori, M.
Author_Institution :
Dept. of Manage. & Eng., Univ. of Padua, Padua, Italy
Abstract :
With this work we introduce a novel methodology for the simulation of walking of a humanoid robot. Motion capture technology is used to calibrate the dynamics engine internal parameters and validate the simulated motor task. Results showed the calibrated contact model allows predicting dynamically consistent ground reaction forces and producing realistic whole-body kinematics.
Keywords :
humanoid robots; legged locomotion; optimisation; robot dynamics; robot kinematics; contact parameters; engine internal parameters; ground reaction forces; humanoid robot dynamics simulation; humanoid robot walking simulation; motor task; optimization; robot whole-body kinematics; Computational modeling; Dynamics; Force; Friction; Kinematics; Legged locomotion;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6630790
