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Please use this identifier to cite or link to this item: http://hdl.handle.net/10198/1911

Título: Realistic humanoid robot simulation with an optimized controller: a power consumption minimization approach
Autor: Lima, José
Gonçalves, José
Costa, Paulo
Moreira, António
Palavras-chave: Simulation
Dynamics simulation
Issue Date: 2008
Citação: Lima, José; Gonçalves, José; Costa, Paulo; Moreira, António (2008) - Realistic humanoid robot simulation with an optimized controller: a power consumption minimization approach. In 11th International Conference on Climbing and Walking Robots. Coimbra.
Resumo: This paper describes a humanoid robot simulator supporting joint trajectory optimization, following accurately the real robot characteristics. The simulator, based on a rigid body simulator (Open Dynamics Engine) and an OpenGL based graphics library (GLScene), provides instant visual feedback and realistic dynamics. It allows to design and test behaviours and control methods without access to the real hardware, preventing damages in the real robot in the earlier stages of development. Having in mind the energy consumption minimization, the low level trajectory planning is discussed and experimental results are presented. The proposed methods are shown to minimize the total energy assuming two intervals of constant acceleration.
URI: http://hdl.handle.net/10198/1911
Appears in Collections:DE - Artigos em Proceedings Não Indexados ao ISI/Scopus

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