Research of Robot Model Behaviour Depending on Model Parameters Using Physic Engines Bullet Physics and ODE

摘要

Simulation of robotic systems is becoming much more important because the modelling process allows one to avoid many problems and reduce costs. The main objective of the work is to investigate the possibility of using open source physics libraries like Bullet Physics and ODE for the simulation of such complex mechatronic systems as a two-legged walking robot. In addition, the authors obtain experimental data which allows one to evaluate the accuracy of modeling in mentioned libraries. The latest improved version of the library Bullet Physics and ODE were used for obtaining of such experimental data. The libraries were connected to the program for the robotics experimental systems modeling V-REP (Virtual robotics Experimentation Platform). A biped robot and its virtual model were used in the experimental part. The data presents the results of experiments which were con-ducted under various conditions. This data provide insight into a possibility of using modern libraries for modeling. The obtained results shows that use of the simulation library Bullet Physics and ODE gives sufficient accuracy which allows one to apply them for modelling of a large variety of tasks including simulation of bipedal walking robots.