Realistic humanoid robot simulation with an optimized controller: a power consumption minimization approach
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 re...
| Autor principal: | |
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| Outros Autores: | , , |
| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
2010
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| Assuntos: | |
| Texto completo: | http://hdl.handle.net/10198/1911 |
| País: | Portugal |
| Oai: | oai:bibliotecadigital.ipb.pt:10198/1911 |