Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots

Michele Vivian; Monica Reggiani; Massimo Sartori

doi:10.1109/ICRA.2013.6630790

Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots

Michele Vivian, Monica Reggiani, Massimo Sartori

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

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.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Pages	1643-1648
Number of pages	6
ISBN (Electronic)	978-1-4673-5643-5
ISBN (Print)	978-1-4673-5641-1
DOIs	https://doi.org/10.1109/ICRA.2013.6630790
Publication status	Published - 2013
Externally published	Yes
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Abbreviated title	ICRA
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

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10.1109/ICRA.2013.6630790

Cite this

@inproceedings{507ab97883c74b5b9f0fe1c59bac341e,

title = "Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots",

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.",

author = "Michele Vivian and Monica Reggiani and Massimo Sartori",

year = "2013",

doi = "10.1109/ICRA.2013.6630790",

language = "English",

isbn = "978-1-4673-5641-1",

pages = "1643--1648",

booktitle = "2013 IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

address = "United States",

note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013, ICRA ; Conference date: 06-05-2013 Through 10-05-2013",

}

Vivian, M, Reggiani, M & Sartori, M 2013, Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots. in 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 1643-1648, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6630790

TY - GEN

T1 - Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots

AU - Vivian, Michele

AU - Reggiani, Monica

AU - Sartori, Massimo

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

U2 - 10.1109/ICRA.2013.6630790

DO - 10.1109/ICRA.2013.6630790

M3 - Conference contribution

SN - 978-1-4673-5641-1

SP - 1643

EP - 1648

BT - 2013 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013

Y2 - 6 May 2013 through 10 May 2013

ER -

Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots

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