[robotics-worldwide] Call for participation: IEEE Humanoids 2011 Tutorial on Simulation of Humanoid robots

Olivier Michel Olivier.Michel at cyberbotics.com
Wed Oct 5 00:45:02 PDT 2011

                Call for participation
          ** IEEE Humanoids 2011 Tutorial **
Setting-up and Using a Simulation of Humanoid Robots

Organizer:    Olivier Michel, Cyberbotics Ltd., Switzerland
Date:         October 26th, 2011, 13h30 - 17h00
Location:     Humanoids 2011, Golf hotel, Bled, Slovenia
Registration: http://www.humanoids2011.org/Registration.html
Web page:     http://www.cyberbotics.com/humanoids_tutorial


Robot simulations are more and more used in robotics research. This tutorial
aims at providing an overview of the different aspects a researcher should take
care of while designing, implementing and using a humanoid robot simulation in
order to achieve relevant scientific results. It emphasizes the benefits, but
also the limitations of simulations and provides the attendees with practical
hints to efficiently take advantage of such tools. After a review of the
state-of-the-art of existing humanoid robot simulation tools and libraries
available today, including open source software, the tutorial will explain how
to possibly combine them together and how to use them in a rational way. We will
address several key questions that researchers should answer before proceeding
to a simulation model: Is it necessary to simulate 3D dynamics, or just
kinematics? How to model servos, mass distribution, friction? How to design
motions, including walk, for humanoid robots? How to define the ratio between
simulation speed and accuracy? What kind of sensor and actuator models are
needed? What kind of robot-environment interactions should be modeled? Why and
how should the simulation model be calibrated against the corresponding real
system? All these questions will be answered in details and illustrated by
practical examples.

List of topics:

- Usefulness and limitations of simulations in humanoid robotics research
- State-of-the-art in humanoid robot simulation
- How to design, implement and use your own simulation models
- How to define the level of accuracy with respect to a real world system
- How to calibrate and validate a simulation model for a humanoid robot
- How to design motions for humanoid robots
- How to transfer simulation results to the real world
- Tips and tricks for quickly developing an efficient robot simulation tool

-Olivier Michel
Cyberbotics Ltd.

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