10.3929/ETHZ-A-010173667
Belter, Dominik
Skrzypczyński, Piotr
Walas, Krzysztof
Fankhauser, Péter
Gehring, Christian
Hutter, Marco
Hoepflinger, Mark A.
Siegwart, Roland
Dynamic simulation of legged robots using a physics engine
ETH Zurich
2014
Conference Paper
Legged robot
Dynamic simulation
Motion control
ASL
info:eu-repo/classification/ddc/621.3
Electric engineering
2014
en
application/pdf
http://rightsstatements.org/page/InC-NC/1.0/
info:eu-repo/semantics/openAccess
This article presents an application for dynamic simulation of legged robots based on a physics engine. In the presented application an iterative solver is supported by analytical equations of the dynamics and software modules for collision detection, environment modeling and visualization. The presented application of the simulator allows for development and verification of control algorithms before their implementation on the real robot.
Mobile Service Robotics
ISBN:978-981-4623-34-6
ISBN:978-981-4623-36-0