Integrated environment of simulator and controller for humanoid robot

In this paper, integrated system is developed which includes intelligent simulator and controller for the real robot. This system is useful for moduled robots with distributed control system like small-sized humanoid robot 'morph3', which has main CPU for main controller and sub CPUs for controlling such modules as motor, sensor and so on. This system can communicate with real robot using TCP/IP and much information is shared at real time. Therefore, errors of such parameters as mass, inertia of components are modified with keeping online. Moreover, development of control system of robot, modifications of parameters, implementation of them can be conduced easily, quickly and efficiently because this system includes dynamics simulator and controllers.