This paper illustrates the results of a validation procedure for the computer simulations of our quadruped robot HyQ. We show how simulated and real data recorded during locomotion tests are substantially consistent, providing an argument for the reliability of our simulation software. The main contribution of this work is to illustrate a basic yet effective software system that allows us to simulate – and also control in the real world – a complex articulated robot that can walk and run.
Validation of computer simulations of the HyQ robot / Frigerio, M.; Barasuol, V.; Focchi, M.; Caldwell, D. G.; Semini, C.. - (2018), pp. 415-422. (Intervento presentato al convegno 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017 tenutosi a Porto, PT nel 11 – 13 September 2017) [10.1142/9789813231047_0051].
Validation of computer simulations of the HyQ robot
M. Focchi;
2018-01-01
Abstract
This paper illustrates the results of a validation procedure for the computer simulations of our quadruped robot HyQ. We show how simulated and real data recorded during locomotion tests are substantially consistent, providing an argument for the reliability of our simulation software. The main contribution of this work is to illustrate a basic yet effective software system that allows us to simulate – and also control in the real world – a complex articulated robot that can walk and run.| File | Dimensione | Formato | |
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