Julia for robotics: simulation and real-time control in a high-level programming language
Julia for robotics: simulation and real-time control in a high-level programming language
复制标题
Julia 机器人技术：使用高级编程语言进行模拟和实时控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Robin Deits
中科院分区：
文献类型：
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作者：
T. Koolen;Robin Deits
机器人应用程序经常遭受“双语言问题”的困扰，需要一种低级语言来处理性能敏感的组件，而需要一种高级语言来进行交互和实验，这往往会增加软件的复杂性。我们演示了使用Julia编程语言来解决这个问题，它足够快，可以在线控制人形机器人，并且足够灵活，可以进行原型设计。我们介绍了几个由作者开发的Julia包，它们一起使用基于二次编程的控制器对Boston Dynamics Atlas人形机器人在平地上的平衡进行了大约2倍的实时模拟。基准测试显示，控制频率的变化足够小，使得在物理机器人上部署是可行的。我们还展示了Julia自然的泛型编程风格导致了通用的包，这些包易于编写并适应机器人中的各种计算任务。
Robotics applications often suffer from the ‘two-language problem’, requiring a low-level language for performance-sensitive components and a high-level language for interactivity and experimentation, which tends to increase software complexity. We demonstrate the use of the Julia programming language to solve this problem by being fast enough for online control of a humanoid robot and flexible enough for prototyping. We present several Julia packages developed by the authors, which together enable roughly 2× realtime simulation of the Boston Dynamics Atlas humanoid robot balancing on flat ground using a quadratic-programming-based controller. Benchmarks show a sufficiently low variation in control frequency to make deployment on the physical robot feasible. We also show that Julia’s naturally generic programming style results in versatile packages that are easy to compose and adapt to a wide variety of computational tasks in robotics.
影响因子：
3.5
作者：
Felis, Martin L.
通讯作者：
Felis, Martin L.