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Conference Papers Year : 2008

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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Dates and versions

lirmm-00536316 , version 1 (15-11-2010)

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  • HAL Id : lirmm-00536316 , version 1

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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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