A Dynamics Simulation Architecture for Robotic Systems

Moores, Benjamin; MacDonald, Bruce A.

doi:10.1109/robot.2005.1570818

Cited by 2 publications

(1 citation statement)

References 14 publications

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“…Virtual-RE [8] is an ODE-based simulator focused on soccer playing humanoid robots. Humanoid and bipedal robot simulators that employ ODE across a range of other tasks include the iCub Simulator [30], that of Lee and Oh [20], Sugiura and Takahashi [29], Moores and MacDonald [24], and Lima et al [21]. ODE has also been used to model particular robots for synthesis applications e.g., Wolff and Wahde [31] model physics via ODE to enable genetic programming to evolve controllers for biped locomotion.…”

Section: Ode For Simulating Robotsmentioning

confidence: 99%

Extending Open Dynamics Engine for Robotics Simulation

Drumwright

Hsu

Koenig

et al. 2010

Lecture Notes in Computer Science

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Abstract. Open Dynamics Engine (ODE) is the most popular rigidbody dynamics implementation for robotics simulation applications. While using it to simulate common robotic scenarios like mobile robot locomotion and simple grasping, we have identified the following shortcomings each of which adversely affect robot simulation: lack of computational efficiency, poor support for practical joint-dampening, inadequate solver robustness, and friction approximation via linearization. In this paper we describe extensions to ODE that address each of these problems. Because some of these objectives lie in opposition to others-e.g., speed versus verisimilitude-we have carried out experiments in order to identify the trade-offs involved in selecting from our extensions. Results from both elementary physics and robotic task-based scenarios show that speed improvements can be gained along with useful joint-dampening. If one is willing to accept an execution time cost, we are able to represent the full-friction cone, while simultaneously guaranteeing a solution from our numerical solver.

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Section: Ode For Simulating Robotsmentioning

confidence: 99%