Humanoid low-level controller development based on a realistic simulation
Autor(a) principal: | |
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Data de Publicação: | 2010 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10198/4239 |
Resumo: | 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. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Humanoid low-level controller development based on a realistic simulationSimulationJoint trajectoriesTrajectory planningThis 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.World ScientificBiblioteca Digital do IPBLima, JoséGonçalves, JoséCosta, Paulo Gomes daMoreira, António Paulo G. M.2011-05-12T09:34:41Z20102010-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10198/4239engLima, José; Gonçalves, José; Costa, Paulo; Moreira, António (2010). Humanoid low-level controller development based on a realistic simulation. International Journal of Humanoid Robotics. ISSN 0219-8436. 7, p.587-607.0219-843610.1142/S02198436100021311793-6942info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-21T10:10:58Zoai:bibliotecadigital.ipb.pt:10198/4239Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T22:56:54.067307Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Humanoid low-level controller development based on a realistic simulation |
title |
Humanoid low-level controller development based on a realistic simulation |
spellingShingle |
Humanoid low-level controller development based on a realistic simulation Lima, José Simulation Joint trajectories Trajectory planning |
title_short |
Humanoid low-level controller development based on a realistic simulation |
title_full |
Humanoid low-level controller development based on a realistic simulation |
title_fullStr |
Humanoid low-level controller development based on a realistic simulation |
title_full_unstemmed |
Humanoid low-level controller development based on a realistic simulation |
title_sort |
Humanoid low-level controller development based on a realistic simulation |
author |
Lima, José |
author_facet |
Lima, José Gonçalves, José Costa, Paulo Gomes da Moreira, António Paulo G. M. |
author_role |
author |
author2 |
Gonçalves, José Costa, Paulo Gomes da Moreira, António Paulo G. M. |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Biblioteca Digital do IPB |
dc.contributor.author.fl_str_mv |
Lima, José Gonçalves, José Costa, Paulo Gomes da Moreira, António Paulo G. M. |
dc.subject.por.fl_str_mv |
Simulation Joint trajectories Trajectory planning |
topic |
Simulation Joint trajectories Trajectory planning |
description |
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. |
publishDate |
2010 |
dc.date.none.fl_str_mv |
2010 2010-01-01T00:00:00Z 2011-05-12T09:34:41Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10198/4239 |
url |
http://hdl.handle.net/10198/4239 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Lima, José; Gonçalves, José; Costa, Paulo; Moreira, António (2010). Humanoid low-level controller development based on a realistic simulation. International Journal of Humanoid Robotics. ISSN 0219-8436. 7, p.587-607. 0219-8436 10.1142/S0219843610002131 1793-6942 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
World Scientific |
publisher.none.fl_str_mv |
World Scientific |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
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1799135180211879936 |