Humanoid Behaviors: From Simulation to a Real Robot
Humanoid Behaviors: From Simulation to a Real Robot
复制标题
人形行为：从模拟到真正的机器人
DOI：
10.1007/978-3-642-24769-9_26
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
A. Neves
中科院分区：
文献类型：
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作者：
Edgar Domingues;N. Lau;B. Pimentel;Nima Shafii;Luis Paulo Reis;A. Neves
本文介绍了将人形代理架构和行为从模拟应用到真实机器人所需的修改。实验是使用 Aldebaran Nao 机器人模型进行的。代理架构从 RoboCup 3D 模拟联赛改编为标准平台联赛，并进行了尽可能少的更改。修改的原因包括模拟机器人和真实机器人的尺寸和动力学方面的微小差异，以及模拟器并未创建真实环境的精确副本。此外，真实的机器人 API 与模拟机器人 API 不同，并且对允许的关节配置有更多限制。在真实机器人中使用为仿真而开发的行为的一般方法是：首先（如有必要）使仿真行为符合真实机器人的限制，其次，将仿真行为应用于真实机器人，降低其速度，最后，增加速度，同时调整行为参数，直到行为变得不稳定或效率低下。由于 Nao 机器人没有垂直髋关节，本文还提出了一种算法来计算产生所需垂直髋关节旋转的髋关节的三个角度。本文描述的所有模拟行为都成功地适应了真实的机器人。
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.
DOI：
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发表时间：
2007-11
期刊：
Bulletin of the Society for Science on Form
影响因子：
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作者：
山田 祐;平田 隆幸
通讯作者：
山田 祐;平田 隆幸
SimSpark-3D足球模拟联赛的概念与应用
DOI：
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发表时间：
2008
期刊：
影响因子：
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作者：
Joschka Boedecker;Minoru Asada
通讯作者：
Minoru Asada