Validation of the dynamics of a humanoid robot in USARSim

This thesis describes a model to replicate the dynamics of a walking robot inside USARSim. USARSim is an existing 3D simulator based on the Unreal Engine, which provides facilities for good quality rendering, physics simulation, networking, a highly versatile scripting language, and a powerful visual editor. To model the dynamics of a walking robot the balance of the robot in relation with the contact points of the body with the environment has to be calculated. The extension of the simulator with a walking robot model is validated on the basis of the humanoid robot Nao. On this basis many other bio-inspired robots become possible. A validated simulation allows development and experiments with typical robotic tasks before they are tested on a real robot.