Experimental evaluation of the dynamic simulation of biped walking of humanoid robots
- 2 March 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1640-1645 vol.2
- https://doi.org/10.1109/robot.2003.1241829
Abstract
We have developed a software platform, called OpenHRP, for humanoid robotics which consists of a dynamic simulator and motion control library for humanoid robots. This paper attempts to answer a frequently asked question "do the dynamic simulations and the experiments of biped walking of humanoid robots correspond?". Using OpenHRP and humanoid robots HRP-1S and HRP-2P, the comparisons between the simulations and experiments are shown at various aspects.Keywords
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