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

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

Páginas: 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

Indexação

Scopus - 2 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica