Robotran-YARP interface: A framework for real-time controller developments based on multibody dynamics simulations

Abstract

Multibody dynamics simulation is widely used for prototyping and testing controllers. However, the transfer of controllers initially developed in simulation to real mechatronics platforms requires updating the code in order to interface with physical sensors and actuators. Due to this strong coupling with specific hardware, the controller re-usability is often severely compromised. In the present contribution, we solve this issue by adding a middleware between the controller and the controlled platform (either real or simulated). This framework decouples the controller from the hardware, allows fast controller developments and eases collaborations on large scale projects. Moreover, it offers the possibility to simultaneously control the real and the simulated robot from a unique controller. This paper presents the interface of the Robotran dynamic simulator with the YARP middleware. Robotran leverages symbolic generation of the multibody equations to provide fast and accurate simulations of multibody systems. The speed and accuracy of Robotran make it possible to test real-time controllers in a realistic simulation environment.This framework is illustrated with applications using the COMAN andWALK-MAN humanoid robots.