Title: A humanoid robotics simulation and control platform for NINO

Authors: Huan-Kun Hsu; Han-Pang Huang; Sheng-Yen Lo

Addresses: Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Road, Taipei City, 10617, Taiwan ' Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Road, Taipei City, 10617, Taiwan ' Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Road, Taipei City, 10617, Taiwan

Abstract: The recent increase in technological maturity has allowed humanoid robots to interact with humans in real-world applications. A simulator of humanoid robots with the characteristics of digital human models plays a significant role for humanoid motion planning in those complex environments. In this paper, a humanoid robotics simulation and control platform is proposed for the developed humanoid robot, NINO. The platform consists of a simulator, the visualisation tool, motion planning algorithms, and a motion control library. It can simulate realistic physical interactions between the robot and its environment during locomotion and keep consistent performance between the simulator and the actual humanoid robot. The simulator can control both the virtual and physical robots. The performance and applications of the simulator platform have been justified through the simulation results of several biped locomotion tasks.

Keywords: digital human modelling; humanoid robots; robot simulation; robot control; motion planning; robot motion; visualisation; motion control; biped locomotion; legged locomotion; walking robots.

DOI: 10.1504/IJDH.2016.077419

International Journal of the Digital Human, 2016 Vol.1 No.2, pp.169 - 194

Received: 14 Nov 2015
Accepted: 10 May 2016
Published online: 29 Jun 2016 *

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