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

Helm, A. ; Hardt, M. ; Höpler, R. ; Stryk, Oskar von (2003)
Development of a toolbox for model-based real-time simulation and analysis of legged robots.
doi: 10.1002/pamm.200310050
Konferenzveröffentlichung, Bibliographie

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Kurzbeschreibung (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.

Typ des Eintrags: Konferenzveröffentlichung
Erschienen: 2003
Autor(en): Helm, A. ; Hardt, M. ; Höpler, R. ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Development of a toolbox for model-based real-time simulation and analysis of legged robots
Sprache: Englisch
Publikationsjahr: März 2003
Ort: Deutschland
(Heft-)Nummer: 1
Buchtitel: PAMM - Proceedings in Applied Mathematics and Mechanics
Band einer Reihe: 2
DOI: 10.1002/pamm.200310050
URL / URN: http://www3.interscience.wiley.com/cgi-bin/jhome/91016652
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Kurzbeschreibung (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.

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 24 Jun 2019 13:29
Letzte Änderung: 24 Jun 2019 13:29
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