Humanoid realistic simulator: the servomotor joint modeling

This paper presents a humanoid servomotor model that can be used in simulations. Once simulation is a tool that reduces the software production time, it was developed a realistic simulator that own the humanoid features. Based on a real platform, the simulator is validated when compared with the reality

Humanoid gait optimization resorting to an improved simulation model

The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for those robots is using simulation and optimization techniques. This paper addresses a new approach to optimize gait parameter sets using an Adaptive Simulated Annealing optimization algorithm combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach

Autopilot simulator prototype for autonomous driving based on SimTwo

The main objective of this work was to develop a control system for an autonomous vehicle that provides autonomous driving. For this, a simulation software, named "SimTwo" was used, where the actuation and sensing model was developed. At the end of the work, a control and 3D visualization system was obtained for an autonomous vehicle capable of driving on a road, avoiding obstacles, alerting in case of danger, among others. The work was developed in a simulation environment and includes a 3D model of a road, with several real scenarios, where the vehicle moves. There are objects on the circuit that can obstruct the passage of the car, creating situations of imminent danger. This system alerts the driver in the event of danger and reacts by deflecting or stopping. This control system uses image sensors and LiDAR (Light Detection And Ranging) as inputs data sources.O principal objetivo deste trabalho foi desenvolver um sistema de controlo de um veículo autónomo que o dote de condução autónoma. Para tal, foi utilizado um software de simulação, SimTwo, onde o modelo de atuação e sensorização foi desenvolvido. No final do trabalho, obteve-se um sistema de controlo e visualização 3D de um veículo autónomo capaz de conduzir numa estrada, desviar de obstáculos, alertar no caso de perigo, entre outros. O trabalho foi desenvolvido num ambiente de simulação e contempla um modelo 3D de uma estrada, com vários cenários reais, onde o veículo se desloca. Existem objetos nas bermas que podem obstruir a passagem do carro, criando situações de perigo eminente. Este alerta no caso de perigo e reage, desviando ou parando. Este sistema de controlo utiliza sensores de imagem e LiDAR (da sigla inglesa "Light Detection And Ranging"), como fontes de informação

Systematic literature review of realistic simulators applied in educational robotics context

This paper presents a systematic literature review (SLR) about realistic simulators that can be applied in an educational robotics context. These simulators must include the simulation of actuators and sensors, the ability to simulate robots and their environment. During this systematic review of the literature, 559 articles were extracted from six different databases using the Population, Intervention, Comparison, Outcomes, Context (PICOC) method. After the selection process, 50 selected articles were included in this review. Several simulators were found and their features were also analyzed. As a result of this process, four realistic simulators were applied in the review’s referred context for two main reasons. The first reason is that these simulators have high fidelity in the robots’ visual modeling due to the 3D rendering engines and the second reason is because they apply physics engines, allowing the robot’s interaction with the environment.info:eu-repo/semantics/publishedVersio

Planeamento cooperativo de tarefas e trajectórias em múltiplos robôs

Tese de doutoramento. Engenharia Electrotécnica e de Computadores. Universidade do Porto. Faculdade de Engenharia. 201