Humanoid low-level controller development based on a realistic simulation

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 simulat...

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Bibliographic Details
Main Author: Lima, José (author)
Other Authors: Gonçalves, José (author), Costa, Paulo Gomes da (author), Moreira, António Paulo G. M. (author)
Format: article
Language:eng
Published: 2011
Subjects:
Simulation
Joint trajectories
Trajectory planning
Online Access:http://hdl.handle.net/10198/4239
Country:Portugal
Oai:oai:bibliotecadigital.ipb.pt:10198/4239

Internet

http://hdl.handle.net/10198/4239

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