HUMANOID LOW-LEVEL CONTROLLER DEVELOPMENT BASED ON A REALISTIC SIMULATION

• Tipo: Artigo em Revista Científica Internacional
• Data: 2010

Autores

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

Revista

Título: International Journal of Humanoid Robotics

Vol. 7 Nº 4

Páginas: 587-607

ISSN: 0219-8436

Editora: World Scientific

Indexação

ISI Web of Knowledge - 2 Citações

ISI Web of Science

Scopus - 2 Citações

INSPEC

COMPENDEX

Classificação Científica

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

Outras Informações

ID Authenticus: P-003-06K

DOI: 10.1142/s0219843610002131

Abstract (EN): This article describes a joint trajectory optimized controller developed in 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 behaviors and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot. The low-level 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: 21