Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedFT8 Gemini 1 Wednesday, October 10, 2012, 16:15–17:30
Tools for Robot Control Design
Chair Sadao Kawamura, Ritsumeikan Univ.
Co-Chair
16:15–16:30 WedFT8.1
Minimum Angular Acceleration Control for
Atrticulated Body Dynamics
16:45–17:00 WedFT8.3
A Framework for Realistic Simulation of
Networked Multi-Robot Systems
Michal Kudelski, Marco Cinus, Luca Gambardella
and Gianni A. Di Caro
Dalle Molle Institute for Artificial Intelligence (IDSIA), Lugano,Switzerland
• We propose an integrated simulation
framework that allows for realistic
simulation of networked robotic systems
• The proposed framework integrates two
simulators: a network simulator and a
multi-robot simulator
• Two implementations are presented,
combining ARGoS with ns-2 and ns-3
• An extensive evaluation and validation of
the integrated simulation framework has
been performed
• We demonstrate a case study that
compares realistic network simulation with
simplified communication models
The architecture of the integrated
simulation framework
17:15–17:30 WedFT8.5
Extensive Analysis of Linear Complementarity Problem
(LCP) Solvers Performance on Randomly Generated
Rigid Body Contact Problems
Evan Drumwright
Computer Science Department, George Washington University, USA
Dylan A. Shell
Computer Science and Engineering, Texas A&M University, USA
• We determined a method to generate multi-rigid body contact problems
randomly
• We evaluate solver performance on these problems with Lemke’s
Algorithm, a primal-dual interior point method, an iterative SOR method,
and PATH
• We exhaustively search for best parameters for each solver
• Which one fares best? Come to the talk and find out!
16:30–16:45 WedFT8.2
A New Feedback Robot Control Method
based on Position/Image Sensor Integration
Ryosuke Nishida and Sadao Kawamura
Department of Robotics College of Science and Engineering,
Ritsumeikan University, Japan
• This paper proposes a new feedback control method
based on simultaneous use of position/image sensors.
• The proposed control method does not need parameter
calibration of cameras and a robot.
• The motion stability is mathematically prove.
• Experimental results demonstrate the usefulness and
the robustness of the proposed method.
17:00–17:15 WedFT8.4
MuJoCo:
A physics engine for model-based control
Emanuel Todorov 1,2 , Tom Erez 1 and Yuval Tassa 1
Computer Science and Engineering 1 , Applied Mathematics 2
University of Washington, USA
• 500 times faster than real-time in a single
thread (18 dof humanoid with 6 contacts)
• dynamics can be evaluated in parallel for
different states and controls, facilitating
sampling and finite differences
• multi-joint dynamics represented in joint
coordinates
• hard contacts simulated with new contact
solvers; multiple solvers provided
• both forward and inverse dynamics can be
computed, even in the presence of
contacts and equality constraints
• modeling of tendons, muscles, slidercranks,
pneumatic cylinders
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–177–
applications of MuJoCo
in trajectory optimization