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