Autor(es):
Gonçalves, Fernando ; Ribeiro, Tiago ; Ribeiro, A. Fernando ; Lopes, Gil ; Flores, Paulo
Data: 2024
Identificador Persistente: https://hdl.handle.net/1822/91489
Origem: RepositóriUM - Universidade do Minho
Projeto/bolsa:
info:eu-repo/grantAgreement/FCT/POR_NORTE/SFRH%2FBD%2F145993%2F2019/PT;
info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00319%2F2020/PT;
info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F04436%2F2020/PT;
info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F04436%2F2020/PT;
Assunto(s): Engenharia e Tecnologia::Engenharia Mecânica; Saúde de qualidade
Descrição
[Excerpt] 1. INTRODUCTION The Laboratory of Automation and Robotics of the University of Minho has developed CHARMIE, a human-inspired robot designed to assist humans in domestic tasks [1] (See Figure 1). One of the challenges in developing a complex mobile manipulator robot is testing and optimizing its control. Damages to the physical prototype, or possible hazardous situations, can be avoided by testing control solutions in a virtual environment. This is even more relevant when using Reinforcement Learning as a control strategy, where the neural network requires testing a set of inaccurate and inadequate solutions before the reward function allows the system to converge into more optimal strategies. This work deals with the development of a multibody simulator that represents the key kinematics and dynamics of CHARMIE’s bodies and joints.[...]
This work has been supported by the Laboratory of Automation and Robotics (LAR) of University of Minho, and the ALGORITMI and CMEMS research centers. The first and second authors received funding through a doctoral scholarship from the Portuguese Foundation for Science and Technology [grant numbers SFRH/BD/145993/2019 and SFRH/BD/06944/2020], with funds from the Portuguese Ministry of Science, Technology and Higher Education and the European Social Fund through the Programa Operacional do Capital Humano (POCH). This work has been supported by FCT—Fundação para a Ciência e a Tecnologia within the R&D Units Project Scope: UIDB/00319/2020. This work has also been supported by the Portuguese Foundation for Science and Technology under the national support to R&D units grant, with the reference projects UIDB/04436/2020 and UIDP/04436/2020.
