Development of a Toolbox for Model-Based Real-Time Simulation and Analysis of Legged Robots

Multibody systems such as legged robots require sophisticated and efficient methods for their modeling, control and simulation. This paper discusses the development of a software library based on modern tools such as C++, OpenGL and XML for highly efficient dynamics modeling. A primary focus lies on modularity permitting its easy extensibility in connection with different actuation and contact models, optimization algorithms, localized and centralized on‐line control schemes as well as animation and simulation environments.