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dc.contributor.authorSlatton, Andrewen_US
dc.contributor.authorCohen, Danielen_US
dc.contributor.authorDing, Yangen_US
dc.contributor.authorUmbanhowar, Paul B.en_US
dc.contributor.authorGoldman, Daniel I.en_US
dc.contributor.authorHaynes, G. Clarken_US
dc.contributor.authorKomsuoglu, Haldunen_US
dc.contributor.authorKoditschek, Daniel E.en_US
dc.date.accessioned2012-08-15T20:25:39Z
dc.date.available2012-08-15T20:25:39Z
dc.date.issued2008-09
dc.identifier.citationAndrew Slatton, Daniel Cohen, Yang Ding, Paul B. Umbanhowar, Daniel I. Goldman, G. Clark Haynes, Haldun Komsuoglu, and Daniel E. Koditschek, "Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion,” IROS 2008.en_US
dc.identifier.urihttp://hdl.handle.net/1853/44544
dc.descriptionPresented at the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, 22-26 Sept. 2008.en_US
dc.description.abstractWe are interested in the development of a variety of legged robot platforms intended for operation in unstructured outdoor terrain. In such settings, the traditions of rational engineering design, driven by analytically informed and computationally assisted studies of robot-environment models, remain ineffective due to the complexity of both the robot designs and the terrain in which they must operate. Instead, empirical trial and error often drives the necessary incremental and iterative design process, hence the development of such robots remains expensive both in time and cost, and is often closely dependent upon the substrate properties of the locomotion terrain. This paper describes a series of concurrent but increasingly coordinated software development efforts that aim to diminish the gap between easily interfaced and physically sound computational models of a real robot’s operation in a complex natural environment. We describe a robot simulation environment in which simple robot modifications can be easily prototyped along and “played” into phenomenological models of contact mechanics. We particularly focus on the daunting but practically compelling example of robot feet interacting granular media, such as gravel or sand, offering a brief report of our progress in deriving and importing physically accurate but computationally tractable phenomenological substrate models into the robot execution simulation environment. With a goal of integration for future robot prototyping simulations, we review the prospects for diminishing the gap between the integrated computational models and the needs of physical platform development.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectLegged locomotionen_US
dc.subjectOutdoor terrainen_US
dc.subjectGranular mediaen_US
dc.titleIntegrating a Hierarchy of Simulation Tools for Legged Robot Locomotionen_US
dc.typeProceedingsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Physicsen_US
dc.contributor.corporatenameUniversity of Pennsylvania. Dept. of Electrical and Systems Engineeringen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US


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