ICRA 2011 Paper Abstract


Paper ThP208.2

Endo, Gen (Tokyo Institute of Technology), Arikawa, Keisuke (Kanagawa Institute of Technology), Hirose, Shigeo (Tokyo Institute of Technology)

An Empirical Comparison of a Free Dynamics Simulator “Open Dynamics Engine” with TITAN-VIII Hardware Torque/Power Measurements

Scheduled for presentation during the Regular Sessions "Robotic Software, Middleware and Programming Environments II" (ThP208), Thursday, May 12, 2011, 15:40−15:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Robotic Software, Middleware and Programming Environments, Multi-legged Robots


A free rigid body dynamics simulator “Open Dynamics Engine” is empirically compared with the results of hardware measurements in joint torque/power dimensions for a quadruped robot ”TITAN-VIII”. We developed the quadruped robot model on the simulator and compared simulated joint torques and powers with hardware experiments during walking which takes four different walking postures. The results suggest that the direct acquisitions of simulated joint torques include a large latency in our application but this defect is avoidable by using joint force information. Careful parameter settings and tunings permit the simulator to match hardware experimental data with sufficient accuracy.



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