Dynamic simulation of legged robots using a physics engine

Dominik Belter, Piotr Skrzypczyński, Krzysztof Walas, Péter Fankhauser, Christian Gehring, Marco Hutter, Mark A. Hoepflinger & Roland Siegwart
This article presents an application for dynamic simulation of legged robots based on a physics engine. In the presented application an iterative solver is supported by analytical equations of the dynamics and software modules for collision detection, environment modeling and visualization. The presented application of the simulator allows for development and verification of control algorithms before their implementation on the real robot.
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