Humanoid robot simulator: a realistic dynamics approach

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

Autores

A. Paulo Moreira (Autor) FEUP; Paulo G. Costa (Autor) FEUP; José C. Gonçalves (Autor) Outra; José L. Lima (Autor) Outra

Ata de Conferência Internacional

Título: CONTROLO 2008

Páginas: 485-490

8th Portuguese Conference on Automatic Control

Vila Real, Portugal, 21 a 23 Julho de 2008

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

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

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6