Humanoid Robot Simulation with a Joint Trajectory Optimized Controller

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2008

Autores

Lima, JL (Autor) Outra; Goncalves, JC (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: 2008 IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, PROCEEDINGS

Páginas: 986-993

13th IEEE International Conference on Emerging Technologies and Factory Automation

Hamburg, GERMANY, SEP 15-18, 2008

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 5 Citações

Outras Informações

ID Authenticus: P-004-5AR

DOI: 10.1109/etfa.2008.4638514

Abstract (EN): This paper describes a joint trajectory optimized controller for a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfill this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviours and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot in the early stages of the development. The joints controller techniques, such as acceleration, speed and energy consumption minimization are discussed and experimental results are presented in order to validate the proposed simulator.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 8