On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward
The last five years marked a surge in interest for and use of smart robots, which operate in
dynamic and unstructured environments and might interact with humans. We posit that well …
dynamic and unstructured environments and might interact with humans. We posit that well …
The role of physics-based simulators in robotics
Physics-based simulation provides an accelerated and safe avenue for developing,
verifying, and testing robotic control algorithms and prototype designs. In the quest to …
verifying, and testing robotic control algorithms and prototype designs. In the quest to …
OpenCap: Human movement dynamics from smartphone videos
Measures of human movement dynamics can predict outcomes like injury risk or
musculoskeletal disease progression. However, these measures are rarely quantified in …
musculoskeletal disease progression. However, these measures are rarely quantified in …
OpenSim: Simulating musculoskeletal dynamics and neuromuscular control to study human and animal movement
Movement is fundamental to human and animal life, emerging through interaction of
complex neural, muscular, and skeletal systems. Study of movement draws from and …
complex neural, muscular, and skeletal systems. Study of movement draws from and …
Is my model good enough? Best practices for verification and validation of musculoskeletal models and simulations of movement
Computational modeling and simulation of neuromusculoskeletal (NMS) systems enables
researchers and clinicians to study the complex dynamics underlying human and animal …
researchers and clinicians to study the complex dynamics underlying human and animal …
Rapid predictive simulations with complex musculoskeletal models suggest that diverse healthy and pathological human gaits can emerge from similar control …
Physics-based predictive simulations of human movement have the potential to support
personalized medicine, but large computational costs and difficulties to model control …
personalized medicine, but large computational costs and difficulties to model control …
Opensim moco: Musculoskeletal optimal control
Musculoskeletal simulations are used in many different applications, ranging from the
design of wearable robots that interact with humans to the analysis of patients with impaired …
design of wearable robots that interact with humans to the analysis of patients with impaired …
The Pinocchio C++ library: A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
We introduce Pinocchio, an open-source software framework that implements rigid body
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …
Flexing computational muscle: modeling and simulation of musculotendon dynamics
Muscle-driven simulations of human and animal motion are widely used to complement
physical experiments for studying movement dynamics. Musculotendon models are an …
physical experiments for studying movement dynamics. Musculotendon models are an …
RBDL: an efficient rigid-body dynamics library using recursive algorithms
ML Felis - Autonomous Robots, 2017 - Springer
In our research we use rigid-body dynamics and optimal control methods to generate 3-D
whole-body walking motions. For the dynamics modeling and computation we created …
whole-body walking motions. For the dynamics modeling and computation we created …