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Development of a toolbox for model-based real-time simulation and analysis of legged robots

Helm, A. and Hardt, M. and Höpler, R. and Stryk, Oskar von (2003):
Development of a toolbox for model-based real-time simulation and analysis of legged robots.
In: PAMM - Proceedings in Applied Mathematics and Mechanics, Deutschland, 2, DOI: 10.1002/pamm.200310050,
[Online-Edition: http://www3.interscience.wiley.com/cgi-bin/jhome/91016652],
[Conference or Workshop Item]

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Abstract

Multibody systems such as legged robots require sophisticated and efficient methods for their modeling, control and simulation. This paper discusses the development of a software library based on modern tools such as C++, OpenGL and XML for highly efficient dynamics modeling. A primary focus lies on modularity permitting its easy extensibility in connection with different actuation and contact models, optimization algorithms, localized and centralized on-line control schemes as well as animation and simulation environments.

Item Type: Conference or Workshop Item
Erschienen: 2003
Creators: Helm, A. and Hardt, M. and Höpler, R. and Stryk, Oskar von
Title: Development of a toolbox for model-based real-time simulation and analysis of legged robots
Language: English
Abstract:

Multibody systems such as legged robots require sophisticated and efficient methods for their modeling, control and simulation. This paper discusses the development of a software library based on modern tools such as C++, OpenGL and XML for highly efficient dynamics modeling. A primary focus lies on modularity permitting its easy extensibility in connection with different actuation and contact models, optimization algorithms, localized and centralized on-line control schemes as well as animation and simulation environments.

Title of Book: PAMM - Proceedings in Applied Mathematics and Mechanics
Volume: 2
Number: 1
Place of Publication: Deutschland
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 24 Jun 2019 13:29
DOI: 10.1002/pamm.200310050
Official URL: http://www3.interscience.wiley.com/cgi-bin/jhome/91016652
Identification Number: PAMM:2003
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