Humanoid Behaviors: From Simulation to a Real Robot
Identifieur interne : 000789 ( Main/Merge ); précédent : 000788; suivant : 000790Humanoid Behaviors: From Simulation to a Real Robot
Auteurs : Edgar Domingues [Portugal] ; Nuno Lau [Portugal] ; Bruno Pimentel [Portugal] ; Nima Shafii [Portugal] ; Luís Paulo Reis [Portugal] ; Ant Nio J. R. Neves [Portugal]Source :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2011.
Abstract
Abstract: This paper presents the modifications needed to adapt a humanoid agent architecture and behaviors from simulation to a real robot. The experiments were conducted using the Aldebaran Nao robot model. The agent architecture was adapted from the RoboCup 3D Simulation League to the Standard Platform League with as few changes as possible. The reasons for the modifications include small differences in the dimensions and dynamics of the simulated and the real robot and the fact that the simulator does not create an exact copy of a real environment. In addition, the real robot API is different from the simulated robot API and there are a few more restrictions on the allowed joint configurations. The general approach for using behaviors developed for simulation in the real robot was to: first, (if necessary) make the simulated behavior compliant with the real robot restrictions, second, apply the simulated behavior to the real robot reducing its velocity, and finally, increase the velocity, while adapting the behavior parameters, until the behavior gets unstable or inefficient. This paper also presents an algorithm to calculate the three angles of the hip that produce the desired vertical hip rotation, since the Nao robot does not have a vertical hip joint. All simulation behaviors described in this paper were successfully adapted to the real robot.
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DOI: 10.1007/978-3-642-24769-9_26
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The experiments were conducted using the Aldebaran Nao robot model. The agent architecture was adapted from the RoboCup 3D Simulation League to the Standard Platform League with as few changes as possible. The reasons for the modifications include small differences in the dimensions and dynamics of the simulated and the real robot and the fact that the simulator does not create an exact copy of a real environment. In addition, the real robot API is different from the simulated robot API and there are a few more restrictions on the allowed joint configurations. The general approach for using behaviors developed for simulation in the real robot was to: first, (if necessary) make the simulated behavior compliant with the real robot restrictions, second, apply the simulated behavior to the real robot reducing its velocity, and finally, increase the velocity, while adapting the behavior parameters, until the behavior gets unstable or inefficient. This paper also presents an algorithm to calculate the three angles of the hip that produce the desired vertical hip rotation, since the Nao robot does not have a vertical hip joint. All simulation behaviors described in this paper were successfully adapted to the real robot.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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