Humanoid robot simulator: a realistic dynamics approach

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

Authors

A. Paulo Moreira (Author) FEUP; Paulo G. Costa (Author) FEUP; José C. Gonçalves (Author) Other; José L. Lima (Author) Other

Conference proceedings International

Title: CONTROLO 2008

Pages: 485-490

8th Portuguese Conference on Automatic Control

Vila Real, Portugal, 21 a 23 Julho de 2008

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Abstract (EN): This paper describes a humanoid robot simulator with realistic dynamics. As simulation is a powerful tool for speeding up the control software development, the suggested accurate simulator allows to accomplish this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback and allows the user to test any control strategy without damaging the real robot in the early stages of the development. The proposed simulator also captures some characteristics of the environment that are important and allows to test controllers without access to the real hardware. Experimental results are shown that validate this approach

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6