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Dynamic Simulation of Robotic Devices Using the Biomechanical Simulator OpenSim

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

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Abstract

The efforts in robotic devices simulation are constantly increasing in the latest years. A reliable and accurate dynamic simulator could improve the quality of the mechanical and controller design, while reducing the cost of development. Moreover, this tool should be independent from the specific robotic device and quite flexible and advanced to support the recent research on complex biologically inspired systems. Based on these considerations we evaluated the possibility to use OpenSim, a simulation tool for the biomechanical community, to implement robot dynamic simulations. OpenSim is a free software that provides a platform on which the biomechanics community can build and share libraries of human movement dynamic simulation. Currently, OpenSim is still not largely used in robotic. Nevertheless, it would have several advantages for the large libraries of tools and model of biological bodies. The tools to simulate the human movement could be used also in the simulation of the new generation of robots with variable stiffness and impedance actuators. So this work reports our first examples of robotic devices dynamic simulation using OpenSim. The obtained results and the interest of the OpenSim developers on our work encourage to follow this research direction.

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Acknowledgments

This research has been partially supported by EU-FP7 grant BioMot (project no. 611695) and by the ERC Advanced Grant DEMOVE. The authors would like to thank Alice Mantoan (Univ. of Padua) for the assistance with data collection, the Bioengineering of the Movement Group, and the IAS-Laboratory of the Department of Information Engineering (Univ. of Padua) for the use of their laboratory facilities.

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Authors and Affiliations

  1. Department of Management and Engineering, University of Padua, Stradella San Nicola 3, 36100, Vicenza, Italy

    Michele Vivian, Luca Tagliapietra & Monica Reggiani

  2. Department of Neurorehabilitaion Engineering, University Medical Center Göttingen, Georg-August University, Von-Siebold-Str. 4, 37075, Göttingen, Germany

    Massimo Sartori

Authors
  1. Michele Vivian
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  2. Luca Tagliapietra
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  3. Massimo Sartori
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  4. Monica Reggiani
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Corresponding author

Correspondence to Michele Vivian .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Vivian, M., Tagliapietra, L., Sartori, M., Reggiani, M. (2016). Dynamic Simulation of Robotic Devices Using the Biomechanical Simulator OpenSim. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_118

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_118

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

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