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RoboCup 2011: Robot Soccer World Cup XV

Volume 7416 of the series Lecture Notes in Computer Science pp 126-136

Rigid and Soft Body Simulation Featuring Realistic Walk Behaviour

  • Oliver UrbannAffiliated withCarnegie Mellon UniversityRobotics Research Institute, Section Information Technology, TU Dortmund University
  • , Sören KernerAffiliated withCarnegie Mellon UniversityRobotics Research Institute, Section Information Technology, TU Dortmund University
  • , Stefan TasseAffiliated withCarnegie Mellon UniversityRobotics Research Institute, Section Information Technology, TU Dortmund University

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Abstract

Using a simulation for development and research of robot motions, especially walking motions, has advantages like saving real hardware, being able to replay specific situations or logging various data. Unfortunately research in this area using a simulation depends on transferability of the results to reality, which is not given for common robotic simulators. This paper presents extensions to a basic rigid body physics simulation leading to more realism. Parametrization matching a particular real robot is done using Evolutionary Strategies. Using stable walking and kicking motions as reference for the ES the newly developed MoToFlex simulator is able to reflect typical walking issues which can be observed in reality using different walking motions.