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.
Type de document :
Communication dans un congrès
RSJ: Conference of the Robotics Society of Japan, Sep 2008, Kobe, Japan. 26th Annual Conference of the Robotics Society of Japan, 2008
Liste complète des métadonnées

Littérature citée [12 références]  Voir  Masquer  Télécharger


https://hal-lirmm.ccsd.cnrs.fr/lirmm-00536316
Contributeur : Jean-Rémy Chardonnet <>
Soumis le : lundi 15 novembre 2010 - 21:50:40
Dernière modification le : jeudi 24 mai 2018 - 15:59:24
Document(s) archivé(s) le : mercredi 16 février 2011 - 03:10:36

Fichiers

2008_RSJ.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : lirmm-00536316, version 1

Collections

Citation

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. 26th Annual Conference of the Robotics Society of Japan, 2008. 〈lirmm-00536316〉

Partager

Métriques

Consultations de la notice

196

Téléchargements de fichiers

732