Simulation of robot dynamics for grasping and manipulation tasks

IEEE-RAS International Conference on Humanoid Robots

Volumn , Issue , 2012, Pages 291-296

  Leon, Beatriz ^a   Felip, Javier ^a   Marti, Higinio ^a   Morales, Antonio ^a  

^a UNIVERSITAT JAUME I   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

GRASPING AND MANIPULATION; ROBOT GRASPING; SENSOR READINGS; SENSORS AND ACTUATORS; SIMULATED ROBOT; SIMULATION OF ROBOTS; SOFT CONTACTS; TACTILE SENSORS;

ANTHROPOMORPHIC ROBOTS;

SENSORS;

EID: 84884854036     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/HUMANOIDS.2012.6651534     Document Type: Conference Paper

References (19)

1. Bullet, Game Physics Simulation. http://www.bulletphysics.org.
2. Newton Game Dynamics. http://newtondynamics.com/.
3. S. Carpin, M. Lewis, Jijun Wang, S. Balakirsky, and C. Scrapper. Usarsim: A robot simulator for research and education. In Robotics and Automation, IEEE International Conference on, pages 1400 -1405, 2007. (Pubitemid 350140378)
4. R. Diankov. Automated Construction of Robotic Manipulation Programs. PhD thesis, Carnegie Mellon University, Robotics Institute, 2010.
5. E. Drumwright, J. Hsu, N. Koenig, and D. Shell. Extending open dynamics engine for robotics simulation. In Noriaki Ando, Stephen Balakirsky, Thomas Hemker, Monica Reggiani, and Oskar von Stryk, editors, Simulation, Modeling, and Programming for Autonomous Robots, volume 6472 of Lecture Notes in Computer Science, pages 38-50. Springer Berlin/Heidelberg, 2010.
6. F. Chaumette, E. Marchand, F. Spindler. Visp for visual servoing: A generic software platform with a wide class of robot control skills. IEEE Robotics and Automation Magazine, Special Issue on "Software Packages for Vision-Based Control of Motion", pages 12(4):40-52, 2005. (Pubitemid 43141947)
7. B. Gerkey, R. Vaughan, and A. Howard. Player/stage project: Tools for multi-robot and distributed sensor systems. In 11th International Conference on Advanced Robotics (ICAR 2003), pages 317-323, Coimbra, Portugal, 2003.
8. J. Jackson. Microsoft robotics studio: A technical introduction. Robotics Automation Magazine, IEEE, 14(4):82 -87, dec. 2007. (Pubitemid 351314530)
9. F. Kanehiro, K. Fujiwara, S. Kajita, K. Yokoi, K. Kaneko, and H. Hirukawa. Open architecture humanoid robotics platform. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 24-30, 2002. (Pubitemid 34916573)
10. N. Koenig and A. Howard. Design and use paradigms for gazebo, an open-source multi-robot simulator. In IEEE International Conference on Intelligent Robots and Systems., volume 3, pages 2149-2154, 2004. (Pubitemid 40275916)
11. T. Laue and M. Hebbel. Automatic parameter optimization for a dynamic robot simulation. In Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, and Changjiu Zhou, editors, RoboCup 2008: Robot Soccer World Cup XII, volume 5399 of Lecture Notes in Computer Science, pages 121-132. Springer Berlin/Heidelberg, 2009.
12. B. Léon, S. Ulbrich, R. Diankov, G. Puche, M. Przybylski, A. Morales, T. Asfour, S. Moisio, J. Bohg, J. Kuffner, and R. Dillmann. Open- GRASP: A toolkit for robot grasping simulation. In Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots, 2010.
13. O. Michel. Cyberbotics ltd. webots tm : Professional mobile robot simulation. Int. Journal of Advanced Robotic Systems, 1:39-42, 2004.
14. A. Miller and P. Allen. Graspit!: A versatile simulator for robotic grasping. IEEE Robotics & Automation Magazine, 11:110-112, 2004.
15. S. Moisio, B. Leon, P. Korkealaakso, and A. Morales. Simulation of tactile sensors using soft contacts for robot grasping applications. In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages 5037 -5043, may 2012.
16. B. Nguyen and J.C. Trinkle. dvc3d: A three dimensional physical simulation tool for rigid bodies with intermittent contact and coulomb friction. In First Joint International Conference on Multibody System Dynamics, May 2010.
17. R. Smith. Open Dynamics Engine - ODE. http://www.ode.org.
18. E. Weitnauer, R. Haschke, and H. Ritter. Evaluating a physics engine as an ingredient for physical reasoning. In Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots, pages 144-155, 2010.
19. L. Zhang, J. Betz, and J.C. Trinkle. Comparison of simulated and experimental grasping actions in the plane. In First Joint International Conference on Multibody System Dynamics, May 2010.