Publicação
Development of a multibody simulator to study the CHARMIE robot
| Resumo: | [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.[...] |
|---|---|
| Autores principais: | Gonçalves, Fernando |
| Outros Autores: | Ribeiro, Tiago; Ribeiro, A. Fernando; Lopes, Gil; Flores, Paulo |
| Assunto: | Engenharia e Tecnologia::Engenharia Mecânica Saúde de qualidade |
| Ano: | 2024 |
| País: | Portugal |
| Tipo de documento: | outro |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | [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.[...] |
|---|