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Interactive Dynamic Simulator for Humanoid With Haptic Feedback

Abstract : In this paper we present an interactive dynamic simulator for humanoid. In our software, the user can interact directly with the robot through a haptic probe and meanwhile feed back with reaction forces subsequent to its actions. The simulator allows also creation and manipulation of virtual objects by the robot, by the human or in a joint collaborative way. This dynamic simulator uses fast computation dynamics and constraint-based methods with friction. It is part of a general framework that is being devised for general prototyping and collaborative scenario studies with haptic feedback. The different ingredients of the simulator are presented with an simulation scenario.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00536321
Contributor : Jean-Rémy Chardonnet <>
Submitted on : Monday, November 15, 2010 - 10:00:05 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Document(s) archivé(s) le : Wednesday, February 16, 2011 - 3:11:39 AM

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  • HAL Id : lirmm-00536321, version 1

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Jean-Rémy Chardonnet, François Keith, Abderrahmane Kheddar, Kazuhito Yokoi, François Pierrot. Interactive Dynamic Simulator for Humanoid With Haptic Feedback. 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Jul 2008, Tokyo, Japan. pp.8. ⟨lirmm-00536321⟩

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