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...

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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: conferenceObject
Language:eng
Published: 2010
Subjects:
Simulation
Dynamics simulation
Online Access:http://hdl.handle.net/10198/1911
Country:Portugal
Oai:oai:bibliotecadigital.ipb.pt:10198/1911

Internet

http://hdl.handle.net/10198/1911

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