Title:
Dynamic Animation and Robotics Toolkit
Dynamic Animation and Robotics Toolkit
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Author(s)
Liu, Karen
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Abstract
Designing control algorithms for complex dynamic systems is a challenging and
time consuming process. It often requires deriving nonlinear differential
equations, formulating optimization problems, and solving numerous small, but
tedious, problems, such as inverse kinematics, forward simulation, inverse
dynamics, or Jacobian matrix computation. To streamline the process of
controller design, we introduced an open-source, cross-platform toolkit,
called DART, for rapid development of kinematics and dynamics applications in
computer animation and robotics. DART (Dynamic Animation and Robotics Toolkit), one of the default physics
engines in Gazebo, provides seamless integration with robotic simulators in
the ROS environment. In contrast to many popular physics engines that view
the simulator as a black box, DART gives full access to internal kinematic
and dynamic quantities, such as the mass matrix, Coriolis and centrifugal
forces, and transformation matrices and their derivatives. DART also provides
efficient computation of Jacobian matrices for arbitrary body points and
coordinate frames.
In this talk, I will give an introduction to DART and demonstrate how
complicated problems can be implemented using only a few lines of code in
DART. I will also show how we use DART to make an Atlas robot walk, a Shadow
Hand manipulate objects, a virtual human learn gymnastics, and a variety of
aquatic creatures swim in simulated fluid.
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Date Issued
2014-11-12
Extent
48:29 minutes
Resource Type
Moving Image
Resource Subtype
Lecture