主催: The Society of Instrument and Control Engineers, System Integration Division
p. 298
The development of a kinematical/dynamical model of a humanoid robot to be used for simulation is considered. The aim of this paper is to formalize the process to produce the model containing all the required data in order to simulate the behaviour of a humanoid in its environment. Then the way to organise the data and to choose the references depends on the simulator used. An application for OpenHRP with the humanoid robot of the NOL Laboratory is proposed here.
