Graphical simulation of articulated rigid body system kinematics with collision detection
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Authors
Goetz, John Robert
Subjects
Visual Simulation, Robotics, Walking Machines, Aquarobot, Performer
Advisors
McGhee, Robert B.
Zyda, Michael J.
Date of Issue
1994-03
Date
March, 1994
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The area of concern addressed by this thesis is the development of a 3-D visual
simulation to aid in the testing of ground detection and foot placement algorithms for an
articulated walking robot's foot pads on uneven terrain. Several collision detection algorithms and terrain mapping techniques were studied to
determine which approach would lend itself readily to the rapid detection of initial ground
contact and the required orientation needed to place each foot firmly on the ground.
As a result of these studies. a real-time, realistic and aesthetically pleasing graphical
simulation for the testing of control software for articulated walking machines has been
developed which utilizes the Silicon Graphics 3-D visual simulation toolkit, Performer.
Not only is rapid ground contact sensing and foot orientation possible.. it is accomplished
without using extraneous data structures making the algorithm generic enough to use on
any terrain model.
Type
Thesis
Description
Series/Report No
Department
Computer Science
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funding
Format
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.