Dynamics Simulation of Humanoid Robots: Forward Dynamics, Contact, and Experiments
نویسندگان
چکیده
In this paper, we introduce our algorithms for simulating humanoid robots, in particular the parallel linear-time forward dynamics algorithm and constraint-based contact model. Using a small humanoid robot as an example, we also demonstrate that our simulator provides results qualitatively similar to experiments even with high-gain joint servo model, which can be simulated without precise joint passive dynamics models.
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