Rigid and Soft Body Simulation Featuring Realistic Walk Behaviour

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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.