Section: Software and Platforms

Humanoid motion analysis and simulation

Participant : Pierre-Brice Wieber.

The HuMAnS toolbox offers tools for the modelling, control and analysis of humanoid motion, be it of a robot or a human. It is a C/C++/Scilab/Maple-based set of integrated tools for the generation of dynamical models of articulated bodies with unilateral contact and friction, their simulation with an event-driven integration scheme, their 3D visualization, the computation of stability measures, optimal positions and trajectories, the generation of control laws and observers, the reconstruction of movements from different sensing systems.