Virtual humanoid robot platform to develop controllers of real humanoid robots without porting

被引：0

作者：

Kanehiro, F ^{[1
]}

Miyata, N ^{[1
]}

Kajita, S ^{[1
]}

Fujiwara, K ^{[1
]}

Hirukawa, H ^{[1
]}

Nakamura, Y ^{[1
]}

Yamane, K ^{[1
]}

Kohara, I ^{[1
]}

Kawamura, Y ^{[1
]}

Sankai, Y ^{[1
]}

机构：

[1] METI, Natl Inst Adv Ind Sci & Technol, Tsukuba, Ibaraki 3058568, Japan

来源：

IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM | 2001年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a virtual humanoid robot platform (V-HRP for short) on which we can develop the identical controller for a virtual humanoid robot and its real counterpart. The unification of the controllers for the virtual and real robot has been realized by introducing software adapters for two robots respectively and employing ART-Linux on which real-time processing is available at the user level. Thanks to the unification, the controllers can. share softwares with the dynamics simulator of V-HRP, including the parameter parser, kinematics and dynamics computations and the collision detector. This feature can make the development of the controllers more efficient and the developed controllers more reliable.

引用

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页码：1093 / 1099

页数：7

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