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Interactive Dynamic Simulator for Humanoid Robots with Deformable Soles

Abstract : We present an interactive dynamic simulator for poly-articulated bodies. We use constraint-based methods to compute contact forces with non-discretized friction, allowing fast simulation. The user can interact with the virtual environment while sensing force feedback through a haptic device. We integrated in our simulator the possibility to design and model an external passive system that allows to absorb shocks generated by impacts. Especially we fixed in simulation a compliant sole under HRP-2 humanoid robot feet. We illustrate our talk by giving a simulation example.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00536316
Contributor : Jean-Rémy Chardonnet <>
Submitted on : Monday, November 15, 2010 - 9:50:40 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Long-term archiving on: : Wednesday, February 16, 2011 - 3:10:36 AM

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Jean-Rémy Chardonnet, Anthony David, Abderrahmane Kheddar, Kazuhito Yokoi. Interactive Dynamic Simulator for Humanoid Robots with Deformable Soles. RSJ: Conference of the Robotics Society of Japan, Sep 2008, Kobe, Japan. ⟨lirmm-00536316⟩

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