Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/1944
Title: HUMANOID LOW-LEVEL CONTROLLER DEVELOPMENT BASED ON A REALISTIC SIMULATION
Authors: José Lima
António Paulo Moreira
José Alexandre Gonçalves
Pedro Gomes Costa
Issue Date: 2010
Abstract: 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.
URI: http://repositorio.inesctec.pt/handle/123456789/1944
metadata.dc.type: article
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