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Please use this identifier to cite or link to this item: http://hdl.handle.net/10198/1910

Título: Humanoid robot simulator: a realistic dynamics approach
Autor: Lima, José
Gonçalves, José
Costa, Paulo
Moreira, António
Palavras-chave: Simulation
Digital control
Issue Date: 2008
Citação: Lima, José; Gonçalves, José; Costa, Paulo; Moreira, António (2008) - Humanoid robot simulator: a realistic dynamics approach. In 8th Portuguese Conference on Automatic Control. Vila Real.
Resumo: 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.
URI: http://hdl.handle.net/10198/1910
Appears in Collections:DE - Artigos em Proceedings Não Indexados ao ISI

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