Using the Newton simulation system as a testbed for control
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 399-404
- https://doi.org/10.1109/isic.1988.65465
Abstract
The use of the Newton system for experimenting with the control of many-degrees-of-freedom articulated objects is described. Newton is a large general-purpose system for simulating the dynamics of complex physical objects. The system automatically formulates and analyzes the dynamics equations of motion for collections of bodies in a wide variety of constrained relationships. An experimental control paradigm is presented and applied to the balancing of a humanoid figure and the endpoint-control of redundant robot arm.Keywords
This publication has 9 references indexed in Scilit:
- Spacetime constraintsACM SIGGRAPH Computer Graphics, 1988
- Dynamic control of redundant manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1988
- Model Generation and Modification for Dynamic Systems from Geometric DataPublished by Springer Nature ,1988
- Controlling dynamic simulation with kinematic constraintsACM SIGGRAPH Computer Graphics, 1987
- Interactive Design of 3D Computer-Animated Legged Animal MotionIEEE Computer Graphics and Applications, 1987
- Near-Real-Time Control of Human Figure ModelsIEEE Computer Graphics and Applications, 1987
- Using Dynamic Analysis for Realistic Animation of Articulated BodiesIEEE Computer Graphics and Applications, 1987
- Simulation of physical systems from geometric modelsIEEE Journal on Robotics and Automation, 1987
- Dynamics of Systems of Rigid BodiesPublished by Springer Nature ,1977