For several projects, such as the Virtual Trainer project, we use dynamic simulations of humanoid robots. These simulations are articulated rigid bodies with adjustable masses and moments of inertia. The simulations are implemented using our Simulation Laboratory package (cf Technical Report).
In the robot learning by imitation work, we take inspiration in studies of the cognitive and neural processes behind human imitation to develop robot controllers which show similar flexibility and adaptability to different imitation tasks as humans do. We use the Cosimir avatars, a 3-D simulation of two humanoid avatars.
