D-CIS Publication Database


Type of publication:Inproceedings
Entered by:AVI
Bibtex cite ID
Booktitle Proceedings of the Performance Metrics for Intelligent Systems Workshop (PerMIS'12)
Series NIST Special Publication
Year published 2012
Month November
Volume 1136
Pages 190-197
Organization National Institute of Standards and Technology
URL http://nvlpubs.nist.gov/nistpubs/SpecialPublications/NIST.SP.1136.pdf
DOI 10.6028/nist.sp.1136
Keywords simulation,NAO,dynamics,collisions
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.
van Noort, Sander
Visser, Arnoud
NaoValidation.pdf (main file)
Total mark: 5