Sim2Real을 고려한 로봇 시스템 아키텍처 구성에 최적화된 모터드라이버 개발 및 플랫폼화 전략

Abstract

With recent development of computers, the speed and accuracy of simulators have improved dramatically, causing a wind of change throughout industry. In robotics, the simulation-based control framework has become one of the axes of the robot control. However, simulation-based controller shows unsatisfactory control performance due to the difference between simulation and reality. In this paper, Bumblebee motor driver, which guarantees driving transparency by compensating all nonlinearities and disturbances of the actuator on its own, is introduced. With such driver, the need for simulator and high-level controllers to consider driver dynamics and uncertainty is eliminated, nullifying the barriers between simulation and real.