{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,14]],"date-time":"2024-07-14T02:54:01Z","timestamp":1720925641271},"reference-count":2,"publisher":"World Scientific Pub Co Pte Lt","issue":"04","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2010,12]]},"abstract":"<jats:p> This article describes a joint trajectory optimized controller developed in a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfill this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviors and control strategies without access to the real hardware in order to carry out research on robot control without damaging the real robot. The low-level joints controller techniques, such as acceleration, speed, and energy consumption minimization, are discussed and experimental results are presented in order to validate the proposed simulator. <\/jats:p>","DOI":"10.1142\/s0219843610002131","type":"journal-article","created":{"date-parts":[[2011,1,6]],"date-time":"2011-01-06T06:36:56Z","timestamp":1294295816000},"page":"587-607","source":"Crossref","is-referenced-by-count":3,"title":["HUMANOID LOW-LEVEL CONTROLLER DEVELOPMENT BASED ON A REALISTIC SIMULATION"],"prefix":"10.1142","volume":"07","author":[{"given":"JOS\u00c9 L.","family":"LIMA","sequence":"first","affiliation":[{"name":"Technology and Management School, Polytechnic Institute of Bragan\u00e7a, INESC Porto, Portugal"}]},{"given":"JOS\u00c9 C.","family":"GON\u00c7ALVES","sequence":"additional","affiliation":[{"name":"Technology and Management School, Polytechnic Institute of Bragan\u00e7a, INESC Porto, Portugal"}]},{"given":"PAULO G.","family":"COSTA","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computers, Faculty of Engineering of University of Porto, INESC Porto, Porto, Portugal"}]},{"given":"A. PAULO","family":"MOREIRA","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computers, Faculty of Engineering of University of Porto, INESC Porto, Porto, Portugal"}]}],"member":"219","published-online":{"date-parts":[[2011,11,20]]},"reference":[{"key":"rf10","first-page":"1431","author":"Santos V.","journal-title":"Journal of Vibration and Control"},{"key":"rf13","unstructured":"E.\u00a0Harold and W.\u00a0Means, XML in a Nutshell, 3rd edn. (O'Reilly, 2004)\u00a0pp. 3\u20134."}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843610002131","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T20:59:37Z","timestamp":1565125177000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843610002131"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,12]]},"references-count":2,"journal-issue":{"issue":"04","published-online":{"date-parts":[[2011,11,20]]},"published-print":{"date-parts":[[2010,12]]}},"alternative-id":["10.1142\/S0219843610002131"],"URL":"https:\/\/doi.org\/10.1142\/s0219843610002131","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,12]]}}}