Anthropomorphic Robotic Arm: NGD used in research

[Gianluca]

Hello everybody,
after a long work... I'm glade to show you our result on evolving a neural controller to grasp objects
http://laral.istc.cnr.it/esm/arm-grasping/

Newton Game Dynamics is used for simulate accuratly the dynamic of the world and the robotic arm.
The simulator made by us exploit the UserJoint in order to simulate a pair of muscle acting on a hinge joint.
Each DOF of the arm, in fact, is moved by activating the two muscle attached.
The non-linear dynamic of the muscle are calculated inside an UserJoint thank to very flexible interface provided by NGD.

Another issue in our simulator was the scaling of the physics to centimeters.
From video is evident the stability of NGD also when it's scaled down to centimenters.

Hi,
Gianluca

[Julio Jerez]

awesome.
I checked teh video and I am very impressed, your neural net algorithm is very sofisticated it llok liek if converg to a soltion really fast.
It is very nice to see how you make it grab the object and not croshing then. Nice mastering of custom joint.

you are right I need to adress the issue of the unit scale.
I will try in one of the newer versions.