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Title: Humanoid low-level controller development based on a realistic simulation
Authors: Lima, José
Gonçalves, José
Costa, Paulo
Moreira, António
Keywords: Simulation
Joint trajectories
Trajectory planning
Issue Date: 2010
Publisher: World Scientific
Citation: 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.
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.
Peer review: yes
ISSN: 0219-8436
Appears in Collections:DE - Artigos em Revistas Indexados ao ISI/Scopus

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