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. Show more
Permanent link
https://doi.org/10.3929/ethz-a-010173667Publication status
publishedExternal links
Book title
Mobile Service RoboticsPages / Article No.
Publisher
World ScientificEvent
Subject
Legged robot; Dynamic simulation; Motion control; ASLOrganisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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ETH Bibliography
yes
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