engleski

A dynamic simulator for humanoid robots

Computer simulation is an essential step in design and construction of various mechanical structures, including the biped robots, because it enables rapid testing and virtual prototyping during the construction phase. Although many different simulators are available, this paper gives an overview and a motivation for building a new dynamic multibody simulator. The simulator is especially adapted to humanoid robot Archie, developed at IHRT institute at the Technical University of Vienna. In addition, it is shown how the simulator can be used, not only in the controller design, but also in the online control loop to extend the available sensors - a virtual sensors principle.

virtual sensors; humanoid robots; dynamic simulator

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