MuJoCo: A physics engine for model-based control

@article{Todorov2012MuJoCoAP,
  title={MuJoCo: A physics engine for model-based control},
  author={Emanuel Todorov and Tom Erez and Yuval Tassa},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={5026-5033}
}
We describe a new physics engine tailored to model-based control. Multi-joint dynamics are represented in generalized coordinates and computed via recursive algorithms. Contact responses are computed via efficient new algorithms we have developed, based on the modern velocity-stepping approach which avoids the difficulties with spring-dampers. Models are specified using either a high-level C++ API or an intuitive XML file format. A built-in compiler transforms the user model into an optimized… CONTINUE READING
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Rigid Body Dynamics Algorithms

  • R. Featherstone
  • 2008
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