Section: Software and Platforms

AMELIF

Participants : Pierre-Brice Wieber, François Keith.

The AMELIF framework is an integrative framework that proposes an API for the representation and simulation of virtual scenes including articulated bodies. AMELIF was devised to realize interactive scenario studies with haptic feedback while providing an interface enabling fast and general prototyping of humanoids (avatars or robots). It is entirely developed in C++ and is cross-platform. The framework is articulated around a core library, upon which several modules have been developed for collision detection, dynamic simulation (contact handling in a time stepping scheme), 3D rendering, haptic interaction, posture generation. This framework is developed mostly at the CNRS/AIST UMI JRL, but we started using it in the Bipop team and therefore started contributing actively to its development.