OpenMR: Modular Robots plug-in for Openrave
De WikiRobotics
Tabla de contenidos |
[editar] Introduction
OpenMR is an OpenRave Modular Robots plug-in for simulating the locomotion of modular robots. It consist of controllers, robot models and examples.
[editar] Hierarchy of Controllers
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.
[editar] Level 0 controller
Currently there is only one level 0 controller in charge of setting the joint's reference positions.
[editar] 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. The argument pos is the reference position (in degrees) [-90,90] |
[editar] Level 1 Controllers
- Neuralcontroller
- Generic controller
- Harmonic controller
- Sinusoidal controller
- Others...
[editar] Installation and setup
[editar] Examples
[editar] Videos
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Locomotion of the Minicube-I modular robot |
[editar] Mailing list
[editar] Repository
svn co http://svn.iearobotics.com/openmr/trunk openmr
[editar] License
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[editar] Authors
- Juan Gonzalez-Gomez
- Avinash Ranganath
[editar] Links
[editar] News
- 2010/03/08: This page is started
