Diferencia entre revisiones de «OpenMR: Modular Robots plug-in for Openrave»
De WikiRobotics
(→Controllers hierarchy) |
(→Controllers hierarchy) |
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== Controllers hierarchy == | == Controllers hierarchy == | ||
| − | The controllers are hierarchical. At the lowest level there are the controllers that interact directly with the joints, seting | + | 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 === | === Level 0 === | ||
| Línea 13: | Línea 14: | ||
=== Level 1 === | === Level 1 === | ||
| − | Neuralcontroller | + | * Neuralcontroller |
| − | Generic controller | + | * Generic controller |
| − | Harmonic controller | + | * Harmonic controller |
| − | Sinusoidal controller | + | * Sinusoidal controller |
| + | * Others... | ||
== Installation and setup == | == Installation and setup == | ||
Revisión del 04:56 6 jul 2010
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
 This code is under the GPLv3 license
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Author
Links
News
- 2010/03/08: This page is started
