Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
A 3D Simulator of Multiple Legged Robots Based on USARSim
RoboCup 2006: Robot Soccer World Cup X
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This paper describes a model to replicate the dynamics of a walking robot inside USARSim. USARSim is an existing 3D simulator based on the Unreal Engine, which provides facilities for good quality rendering, physics simulation, networking, a highly versatile scripting language and a powerful visual editor. To model the dynamics of a walking robot the balance of the robot in relation with the contact points of the body with the environment has to be calculated. To guarantee a fast frame rate several approximations in this calculation have to be tried, and the performance (both in dynamics and computational effort) is evaluated in a number of experiments. This extension is made and validated for the humanoid robot Nao. On this basis many other applications become possible. A validated simulation allows us to develop and to experiment with typical robotic tasks before they are tested on a real robot.