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Author(s): A. Paulo Moreira
Paulo G. Costa
José A. Gonçalves
José L. Lima
Title: Humanoid realistic simulator: The servomotor joint modeling
Issue Date: 2009
Abstract: Recent research in biped robots has resulted in a varietyof prototypes that resemble their biological counterparts.Legged robots have several advantages, theycan move in rugged terrains, they have the abilityto choose optional landing points, and two leggedrobots are more suitable to move in human environment(Suzuki and Ohnishi, 2006).The simulator should capture the essential characteristicsof the real system. In this paper, the servomotormodel that powers the real humanoid joints isaddressed. The model of a Dynamixel AX-12 servomotorand its characteristics are found by an iterativemethod based on a realistic simulator, the SimTwo(Costa, 2009).There are several simulators with humanoid simulationcapability, like Simspark, Webots, MURoSimF,Microsoft Robotics Studio, YARP: Yet AnotherRobot Platform (Wang et al., 2006) and OpenHRP3(Ope, 2009), meanwhile, the SimTwo, as a genericsimulator, allows to simulate different types of robotsand allows the access to the low level behaviour, suchas dynamical model, friction model and servomotormodel in a way that can be mapped to the real robot,with a minimal overhead. This simulator deals withrobot dynamics and how it reacts for several controllerstrategies and styles. Using a realistic simulator canbe the key for reducing the development time of robotcontrol, localization and navigation software. It is notan easy task to develop such simulator due to the inherentcomplexity of building realistic models for therobot, its sensors and actuators and their interactionwith the world (Browning and Tryzelaar, 2003).The purpose of developing such simulator is toproduce a personalized and versatile tool that willallow the development and validation of the robotssoftware thereby reducing considerably the developmenttime.The paper is organized as follows: Initially, thereal robot (which is the basis of the simulator) and itsmain control architecture are presented. Then, section3 presents the developed simulator where the servomotormodel was developed. Further, section 4presents the validation of the simulator by comparingits results with the real robot. Finally, section 5rounds up with the conclusions and future work.
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: Proceedings of IECON 2009 - 35th Annual Conference of the IEEE Industrial Electronics Society
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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