Dynamic simulation of robotic devices using the biomechanical simulator OpenSim

Michele Vivian*, Luca Tagliapietra, Massimo Sartori, Monica Reggiani

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
3 Downloads (Pure)

Abstract

The efforts in robotic devices simulation are constantly increasing in the latest years. A reliable and accurate dynamic simulator could improve the quality of the mechanical and controller design, while reducing the cost of development. Moreover, this tool should be independent from the specific robotic device and quite flexible and advanced to support the recent research on complex biologically inspired systems. Based on these considerations we evaluated the possibility to use OpenSim, a simulation tool for the biomechanical community, to implement robot dynamic simulations. OpenSim is a free software that provides a platform on which the biomechanics community can build and share libraries of human movement dynamic simulation. Currently, OpenSim is still not largely used in robotic. Nevertheless, it would have several advantages for the large libraries of tools and model of biological bodies. The tools to simulate the human movement could be used also in the simulation of the new generation of robots with variable stiffness and impedance actuators. So this work reports our first examples of robotic devices dynamic simulation using OpenSim. The obtained results and the interest of the OpenSim developers on our work encourage to follow this research direction.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems - Proceedings of the 13th International Conference IAS, 2014
PublisherSpringer
Pages1639-1651
Number of pages13
Volume302
ISBN (Print)9783319083377
DOIs
Publication statusPublished - 2016
Externally publishedYes
Event13th International Conference on Intelligent Autonomous Systems, IAS 2014 - Padova, Italy
Duration: 15 Jul 201418 Jul 2014

Publication series

NameAdvances in Intelligent Systems and Computing
Volume302
ISSN (Print)21945357

Conference

Conference13th International Conference on Intelligent Autonomous Systems, IAS 2014
CountryItaly
CityPadova
Period15/07/1418/07/14

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