Name
Abstract | ||
|---|---|---|
We describe a new physics engine tailored to model-based control. Multi-joint dynamics are represented in generalized coordinates and computed via recursive algorithms. Contact responses are computed via efficient new algorithms we have developed, based on the modern velocity-stepping approach which avoids the difficulties with spring-dampers. Models are specified using either a high-level C++ API or an intuitive XML file format. A built-in compiler transforms the user model into an optimized data structure used for runtime computation. The engine can compute both forward and inverse dynamics. The latter are well-defined even in the presence of contacts and equality constraints. The model can include tendon wrapping as well as actuator activation states (e.g. pneumatic cylinders or muscles). To facilitate optimal control applications and in particular sampling and finite differencing, the dynamics can be evaluated for different states and controls in parallel. Around 400,000 dynamics evaluations per second are possible on a 12-core machine, for a 3D homanoid with 18 dofs and 6 active contacts. We have already used the engine in a number of control applications. It will soon be made publicly available. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6386109 | Intelligent Robots and Systems |
Keywords | Field | DocType |
C++ language,XML,application program interfaces,control engineering computing,data structures,finite difference methods,humanoid robots,optimal control,program compilers,shock absorbers,12-core machine,3D humanoid,MuJoCo,active contacts,actuator activation states,built-in compiler transforms,finite differencing,high-level C++ API,intuitive XML file format,model-based control,multijoint dynamics,optimal control applications,optimized data structure,physics engine,recursive algorithms,runtime computation,spring-dampers,tendon wrapping,velocity-stepping approach | Data structure,Optimal control,Physics engine,Computer science,Control theory,Algorithm,Control engineering,Compiler,Inverse dynamics,Generalized coordinates,Computation,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4673-1737-5 | 298 |
PageRank | References | Authors |
13.13 | 8 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Emanuel Todorov | 1 | 1591 | 126.81 |
| Tom Erez | 2 | 1027 | 50.56 |
| Yuval Tassa | 3 | 1097 | 52.33 |