OpenMR: Modular Robots plug-in for Openrave
De WikiRobotics
Contenido
Introduction
OpenMR is an OpenRave Modular Robots plug-in for simulating the locomotion of modular robots.
Controllers hierarchy
The controllers are hierarchical. At the lowest level there are the controllers that interact directly with the joints, seting their current torque, position or velocity. Typicall level 0 controllers are: P, PD, PID...
Level 1 controllers set the sequence of reference signals for the level 0 controller in order for the robot to move. Examples of this kind of controllers are gait control tables, sinusoidal generators, central patter generators, neural controllers and so on.
Level 0
Servo controller
Level 1
- Neuralcontroller
- Generic controller
- Harmonic controller
- Sinusoidal controller
- Others...
Installation and setup
Running the Examples
Videos
300|250</youtube>
Locomotion of the Minicube-I modular robot |
Mailing list
Repository
svn co http://svn.iearobotics.com/openmr/trunk openmr
License
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Author
Links
News
- 2010/03/08: This page is started