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그래픽 시뮬레이터와 물리엔진을 이용한 효과적인 4족 보행로봇의 모션티칭 방법
류지형(Jihyoung Ryu),김지홍(Kim jeehong),이창구(Changoo Lee),이수영(Sooyeong Yi) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
A graphic simulator is efficient to see what will happen to the target robot. But it is not exactly same as the real world. Because there are so many physical laws to be concerned. In this paper, we propose a simulator with physics engine to create motions for Quadruped robot. It is not only to show more real simulations but also to be more efficient for teaching motions to quadruped robot. To solve the quadruped robot's dynamics or inverse kinematics, It takes much times and hard effort. Using physics engine make it easy to setup motions without calculating inverse kinematics or dynamics.