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dc.contributor.author
Belter, Dominik
dc.contributor.author
Skrzypczyński, Piotr
dc.contributor.author
Walas, Krzysztof
dc.contributor.author
Fankhauser, Péter
dc.contributor.author
Gehring, Christian
dc.contributor.author
Hutter, Marco
dc.contributor.author
Hoepflinger, Mark A.
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2019-01-07T13:31:04Z
dc.date.available
2019-01-07T13:20:46Z
dc.date.available
2019-01-07T13:31:04Z
dc.date.issued
2014
dc.identifier.isbn
978-981-4623-34-6
en_US
dc.identifier.isbn
978-981-4623-36-0
en_US
dc.identifier.other
10.1142/9789814623353_0066
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/314048
dc.identifier.doi
10.3929/ethz-a-010173667
dc.description.abstract
This article presents an application for dynamic simulation of legged robots based on a physics engine. In the presented application an iterative solver is supported by analytical equations of the dynamics and software modules for collision detection, environment modeling and visualization. The presented application of the simulator allows for development and verification of control algorithms before their implementation on the real robot.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
World Scientific
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Legged robot
en_US
dc.subject
Dynamic simulation
en_US
dc.subject
Motion control
en_US
dc.subject
ASL
dc.title
Dynamic simulation of legged robots using a physics engine
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.book.title
Mobile Service Robotics
en_US
ethz.pages.start
567
en_US
ethz.pages.end
574
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.code.ddc
6 - Technology, medicine and applied sciences::621.3 - Electric engineering
en_US
ethz.event
17th International Conference on Climbing and Walking Robots (CLAWAR)
en_US
ethz.event.location
Poznan, Poland
en_US
ethz.event.date
July 21-23, 2014
en_US
ethz.identifier.wos
ethz.publication.place
Singapore
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.date.deposited
2017-06-11T10:25:07Z
ethz.source
ECOL
ethz.source
ECIT
ethz.identifier.importid
imp59366b5e7e5de51158
ethz.identifier.importid
imp5936520e3979a10592
ethz.ecolpid
eth:8741
ethz.ecitpid
pub:135591
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2019-01-07T13:21:01Z
ethz.rosetta.lastUpdated
2019-02-03T12:50:19Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/154611
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/86122
ethz.COinS
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