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Author(s): A. Paulo Moreira
Paulo G. Costa
José C. Gonçalves
José L. Lima
Title: Realistic behaviour simulation of a humanoid robot
Issue Date: 2008
Abstract: This paper describes a humanoid robot simulatorwith realistic dynamics. As simulation is a powerful tool forspeeding up the control software development, the proposedaccurate simulator allows to fulfil this goal. The simulator isbased on the Open Dynamics Engine and GLScene graphicslibrary, providing instant visual feedback. User is able to testany control strategy without bringing damage to the real robotin the early stages of the development. The proposed simulatoralso captures some characteristics of the environment that areimportant and allows to test controllers without access to thereal hardware. Experimental and simulator results arepresented in order to validate the proposed simulator.
Subject: Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Source: Robótica 2008
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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