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A dynamic simulator for humanoid robots

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Abstract

Computer simulation is an essential step in the design and construction of various mechanical structures, including biped robots, because it enables rapid testing and virtual prototyping during the construction phase. Although many different simulators are available, this article gives an overview and a motivation for building a new dynamic multibody simulator. The simulator is especially adapted to humanoid robot Archie, developed at the IHRT Institute at the Technical University of Vienna. In addition, it is shown how the simulator can be used not only in the controller design, but also in the online control loop to extend the available sensors: a virtual sensors principle.

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Author information

Authors and Affiliations

  1. Faculty of Electrical Engineering and Computing, Zagreb, Croatia Currently guest at the IHRT, University of Technology, Vienna, Austria

    Tomislav Reichenbach

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  1. Tomislav Reichenbach
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Correspondence to Tomislav Reichenbach.

Additional information

This work was presented in part at the First European Workshop on Artificial Life and Robtics, Vienna, Austria, July 12–13, 2007

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Reichenbach, T. A dynamic simulator for humanoid robots. Artif Life Robotics 13, 561–565 (2009). https://doi.org/10.1007/s10015-008-0508-6

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  • DOI: https://doi.org/10.1007/s10015-008-0508-6

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