OpenMR: Modular Robots plug-in for Openrave
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
Currently there is only one level 0 controller in charge of setting the joint's reference positions.
Servo controller
This controller implements standard servos, which are controlled by setting its reference position. Internally It has a P controller
- API
| setpos s1 [s2] | Set the reference position of all the robot joints in degrees, in the range [-90,90]. If the robot have N joints, there have to be N arguments. |
| setpos1 servo pos | Set the reference position of one joint. The argument servo is the servo number, starting from 0 and the argument pos is the reference position (in degrees) [-90,90] |
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
 This code is under the GPLv3 license
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Author
Links
News
- 2010/03/08: This page is started
