Robotran-Yarp interface: a framework for real-time controller development based on multibody dynamics simulation

Habra, Timothée [UCL] Fisette, Paul [UCL] Ronsse, Renaud [UCL] et al.

Multibody dynamics simulation is widely used for testing and prototyping controllers. However, the transfer of controllers initially developed in simulation to real mechatronics platforms, requires modifications of the code in order to interface with sensors and actuators. Because of this coupling with the hardware, the controller re-usability is severely impacted. In this work, we solve this issue by adding a middleware between the controller and the controlled platform (real or simulated). This framework decouples the controller from the hardware which allows fast controller development and eases collaborations on large scale projects. Moreover, it is then possible to simultaneously control the real and the simulated robot from a unique controller. This paper presents the interface of the Robotran multibody dynamics simulator with the YARP middleware. This framework is illustrated with applications on the COMAN and WALK-MAN humanoids robots.