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 proceedingConference contributionAcademicpeer-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 languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages1643-1648
Number of pages6
ISBN (Electronic)978-1-4673-5643-5
ISBN (Print)978-1-4673-5641-1
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Abbreviated titleICRA
CountryGermany
CityKarlsruhe
Period6/05/1310/05/13

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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) (pp. 1643-1648). IEEE. https://doi.org/10.1109/ICRA.2013.6630790