Title :
Humanoid robot simulation with a joint trajectory optimized controller
Author :
Lima, Jose L. ; Goncalves, Jose C. ; Costa, Paulo G. ; Moreira, Paulo A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Porto, Porto
Abstract :
This paper describes a joint trajectory optimized controller for 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 fulfil 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 behaviours and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot in the early stages of the development. The 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.
Keywords :
acceleration control; control engineering computing; feedback; humanoid robots; position control; software libraries; velocity control; GLScene graphics library; acceleration control; control software development; energy consumption minimization; humanoid robot simulation; open dynamics engine; robot control; speed control; trajectory optimized controller; visual feedback; Acceleration; Engines; Feedback; Graphics; Hardware; Humanoid robots; Programming; Robot control; Software libraries; Testing;
Conference_Titel :
Emerging Technologies and Factory Automation, 2008. ETFA 2008. IEEE International Conference on
Conference_Location :
Hamburg
Print_ISBN :
978-1-4244-1505-2
Electronic_ISBN :
978-1-4244-1506-9
DOI :
10.1109/ETFA.2008.4638514