Using the Newton simulation system as a testbed for control

Abstract

The use of the Newton system for experimenting with the control of many-degrees-of-freedom articulated objects is described. Newton is a large general-purpose system for simulating the dynamics of complex physical objects. The system automatically formulates and analyzes the dynamics equations of motion for collections of bodies in a wide variety of constrained relationships. An experimental control paradigm is presented and applied to the balancing of a humanoid figure and the endpoint-control of redundant robot arm.<>