Tools for simulating humanoid robot dynamics: a survey based on user feedback
The number of tools for dynamics simulation has grown substantially in the last few years.
Humanoid robots, in particular, make extensive use of such tools for a variety of applications …
Humanoid robots, in particular, make extensive use of such tools for a variety of applications …
Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in mujoco
E Todorov - 2014 IEEE International Conference on Robotics …, 2014 - ieeexplore.ieee.org
We describe a full-featured simulation pipeline implemented in the MuJoCo physics engine.
It includes multi-joint dynamics in generalized coordinates, holonomic constraints, dry joint …
It includes multi-joint dynamics in generalized coordinates, holonomic constraints, dry joint …
Tools for dynamics simulation of robots: a survey based on user feedback
The number of tools for dynamics simulation has grown in the last years. It is necessary for
the robotics community to have elements to ponder which of the available tools is the best …
the robotics community to have elements to ponder which of the available tools is the best …
Robust pivoting manipulation using contact implicit bilevel optimization
Generalizable manipulation requires that robots be able to interact with novel objects and
environment. This requirement makes manipulation extremely challenging as a robot has to …
environment. This requirement makes manipulation extremely challenging as a robot has to …
On the similarities and differences among contact models in robot simulation
PC Horak, JC Trinkle - IEEE Robotics and Automation Letters, 2019 - ieeexplore.ieee.org
Over the past several decades, as affordable computational power has increased,
simulation has become increasingly important in robot analysis, planning, and control …
simulation has become increasingly important in robot analysis, planning, and control …
Physically consistent state estimation and system identification for contacts
Successful model based control relies heavily on proper system identification and accurate
state estimation. We present a framework for solving these problems in the context of robotic …
state estimation. We present a framework for solving these problems in the context of robotic …
Predictable behavior during contact simulation: a comparison of selected physics engines
Contact behaviors in physics simulations are important for real‐time interactive applications,
especially in virtual reality applications where user's body parts are tracked and interact with …
especially in virtual reality applications where user's body parts are tracked and interact with …
Chance-constrained optimization in contact-rich systems for robust manipulation
This paper presents a chance-constrained formulation for robust trajectory optimization
during manipulation. In particular, we present a chance-constrained optimization for …
during manipulation. In particular, we present a chance-constrained optimization for …
Robust pivoting: Exploiting frictional stability using bilevel optimization
Generalizable manipulation requires that robots be able to interact with novel objects and
environment. This requirement makes manipulation extremely challenging as a robot has to …
environment. This requirement makes manipulation extremely challenging as a robot has to …