Japanese　

Simulation environment which includes soft flexible structures

• Points
  • Estimation of any data (inner force of torso, etc) of whole-body motion
  • Motion generation in conjunction with learning or genetic algorithm
  • Simulation of dynamical change of the flexibility

• Software

• Dynamically variable flexibility simulation

Simulation while the torso keeps rigid state
Simulation while the torso keeps soft state
Simulation when the torso changes from a rigid state to a soft state

• A SQ43's motion generated using the simulation environment (simulation and real robot)

　References

1. T. Matsuki, I. Mizuuchi, S. Kagami, M. Inaba, and H. Inoue: "Quadruped Robot with Spine Structure and Simulation Environment", Proc. of the 16th Annual Conference of the Robotics Society of Japan, Vol.1, pp.85--86, 1998
2. I. Mizuuchi, T. Matsuki, M. Inaba, and H. Inoue: "Simulation environment of humanoid robot which contains soft structure, and its application to real robot's motion generation", Proc. of 1999 JSME Conference on Robotics and Mechatronics (ROBOMEC'99), 2A1-47-085, 1999
3. I. Mizuuchi, M. Inaba, and H. Inoue: "Simulation environment of humanoid robot which has variable soft structure.", Proc. of the 17th Annual Conference of the Robotics Society of Japan, Vol.3, pp.1197--1198, 1999

【Note】 Movies are limited in the laboratory.

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