Realistic humanoid robot simulation with an optimized controller: A power consumption minimization approach

• Type: Article in International Conference Proceedings Book
• Date: 2008

Authors

Lima, JL (Author) Other; Goncalves, JC (Author) Other; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

Pages: 1242-1249

11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

Coimbra, 8 September 2008 through 10 September 2008

Indexing

Scopus - 2 Citations

Other information

Authenticus ID: P-007-S5S

Abstract (EN): This paper describes a humanoid robot simulator supporting joint trajectory optimization, following accurately the real robot characteristics. The simulator, based on a rigid body simulator (Open Dynamics Engine) and an OpenGL based graphics librmy (GLScene), provides instant visual feedback and realistic dynamics. It allows to design and test behaviours and control methods without access to the real hardware, preventing damages in the real robot in the earlier stages of development. Having in mind the energy consumption minimization, the low level trajectory planning is discussed and experimental results are presented. The proposed methods arc shown to minimize the total energy assuming two intervals of constant acceleration. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.

Language: English

Type (Professor's evaluation): Scientific